/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * File Name          : freertos.c
 * Description        : Code for freertos applications
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * @file freertos.c
 *
 ******************************************************************************
 */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "dac161s997.h"
#include "ad7124.h"
#include "usart.h"
#include "communication_protocol.h"
#include "tim.h"
#include "gpio.h"
#include "tcpserverc.h"
#include "lwip.h"
#include "lwip/tcp.h"  // 添加TCP相关定义
#include "uart_lcd.h"
#include "user_gpio.h"
#include "linear_encoder.h"
#include "lan8742.h"
#include "ad7124_test.h"
#include <string.h>  // 添加string.h用于字符串操作
#include "ht1200m.h"
#include "TCA6416.h"  // 添加TCA6416头文件

// 声明外部变量
extern ad7124_analog_t ad7124_analog[AD7124_CHANNEL_EN_MAX];
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
osThreadId lwip_taskHandle;
osThreadId led_taskHandle;
osThreadId dac_taskHandle;
osThreadId adc_taskHandle;
osThreadId gpio_di_do_taskHandle;
osThreadId ec11_taskHandle;
osThreadId ad7124_test_taskHandle;
osThreadId usart6_test_taskHandle;  // 添加USART6测试任务句柄
osThreadId tca6416_taskHandle;  // 添加TCA6416任务句柄

// 添加调试变量
static volatile uint32_t uart6_dr_raw = 0;     // UART数据寄存器的原始值
static volatile uint8_t uart6_data_bits = 0;   // 数据位（8位）
static volatile uint8_t uart6_parity_bit = 0;  // 校验位
static volatile uint8_t uart6_stop_bits = 0;   // 停止位
static volatile uint8_t uart6_error_flags = 0; // 错误标志

// 添加RTS引脚监控变量
volatile GPIO_PinState rts_pin_state = GPIO_PIN_RESET;  // RTS引脚当前状态
volatile GPIO_PinState rst_pin_state = GPIO_PIN_RESET;  // RTS引脚当前状态
volatile uint32_t rts_pin_pull = 0;                     // RTS引脚上下拉配置
volatile uint32_t rts_pin_mode = 0;                     // RTS引脚模式
volatile uint32_t rts_pin_speed = 0;                    // RTS引脚速度
volatile uint32_t rts_pin_alternate = 0;                // RTS引脚复用功能

// 添加全局变量用于存储TCA6416引脚状态
volatile uint8_t tca6416_port0_status = 0;  // 第一个TCA6416的Port0状态
volatile uint8_t tca6416_port1_status = 0;  // 第一个TCA6416的Port1状态
volatile uint8_t tca6416_port2_status = 0;  // 第二个TCA6416的Port0状态
volatile uint8_t tca6416_port3_status = 0;  // 第二个TCA6416的Port1状态
volatile uint8_t tca6416_port4_status = 0;  // 第三个TCA6416的Port0状态
volatile uint8_t tca6416_port5_status = 0;  // 第三个TCA6416的Port1状态

// 添加TCA6416测试相关的调试变量
volatile uint8_t tca6416_test_step = 0;        // 当前测试步骤
volatile uint8_t tca6416_init_result = 0xFF;   // 初始化结果
volatile uint8_t tca6416_init2_result = 0xFF;  // 第二个芯片初始化结果
volatile uint8_t tca6416_init3_result = 0xFF;  // 第三个芯片初始化结果
volatile uint8_t tca6416_write_data = 0;       // 写入的数据
volatile uint8_t tca6416_read_data = 0;        // 读取的数据
volatile uint8_t tca6416_error_count = 0;      // 错误计数
volatile uint8_t tca6416_test_pattern = 0;     // 测试模式
volatile uint8_t tca6416_port0_dir = 0;        // Port0方向寄存器值
volatile uint8_t tca6416_port1_dir = 0;        // Port1方向寄存器值
volatile uint8_t tca6416_i2c_ack_status = 0;   // I2C应答状态

/* USER CODE END Variables */

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
extern float current_buff[2];
extern struct netif gnetif;
extern ETH_HandleTypeDef heth;

extern struct tcp_pcb *server_pcb_hart1;
extern struct tcp_pcb *server_pcb_hart2;
extern struct tcp_pcb *server_pcb_ble1;
extern struct tcp_pcb *server_pcb_ble2;
extern struct tcp_pcb *server_pcb_control;

extern void tcp_abort(struct tcp_pcb *pcb);
void start_usart6_test_task(void const *argument);  // 添加USART6测试任务函数声明
void start_tca6416_task(void const *argument);  // 添加TCA6416任务函数声明
void test_tca6416_task(void const *argument);  // 添加TCA6416测试任务函数声明
/* USER CODE END FunctionPrototypes */

void start_tcp_task(void const *argument);
void start_led_toggle_task(void const *argument);
void start_dac_task(void const *argument);
void start_adc_task(void const *argument);
void start_gpio_di_do_task(void const *argument);
void start_ec11_task(void const *argument);
void start_ad7124_test_task(void const *argument);
void ad7124_multi_channel_init(uint8_t sample_rate);
void start_adc_task(void const *argument);
void test_cs_pin(void);

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);

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
 * @brief  FreeRTOS initialization
 * @param  None
 * @retval None
 */
void MX_FREERTOS_Init(void)
{
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of lwip_task */
  osThreadDef(lwip_task, start_tcp_task, osPriorityHigh, 0, 512);
  lwip_taskHandle = osThreadCreate(osThread(lwip_task), NULL);

  /* definition and creation of led_task */
  // osThreadDef(led_task, start_led_toggle_task, osPriorityLow, 0, 128);
  // led_taskHandle = osThreadCreate(osThread(led_task), NULL);

  /* definition and creation of dac_task */
  // osThreadDef(dac_task, start_dac_task, osPriorityNormal, 0, 512);
  // dac_taskHandle = osThreadCreate(osThread(dac_task), NULL);
  osThreadDef(adc_task, start_adc_task, osPriorityBelowNormal, 0, 128);
  adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);

  /* definition and creation of adc_task */
  // osThreadDef(adc_task, start_adc_task, osPriorityBelowNormal, 0, 128);
  // adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);

  /* definition and creation of gpio_di_do_task */
   //osThreadDef(gpio_di_do_task, start_gpio_di_do_task, osPriorityNormal, 0, 128);
   //gpio_di_do_taskHandle = osThreadCreate(osThread(gpio_di_do_task), NULL);

  /* definition and creation of ec11_task */
  // osThreadDef(ec11_task, start_ec11_task, osPriorityNormal, 0, 512);
  // ec11_taskHandle = osThreadCreate(osThread(ec11_task), NULL);

  /* definition and creation of ad7124_test_task */
  // osThreadDef(ad7124_test_task, start_ad7124_test_task, osPriorityNormal, 0, 512);
  // ad7124_test_taskHandle = osThreadCreate(osThread(ad7124_test_task), NULL);

  /* HART测试任务 */
  osThreadDef(usart6_test_task, start_usart6_test_task, osPriorityNormal, 0, 128);
  usart6_test_taskHandle = osThreadCreate(osThread(usart6_test_task), NULL);

  /* TCA6416任务 */
  //osThreadDef(tca6416_task, start_tca6416_task, osPriorityNormal, 0, 128);
 // tca6416_taskHandle = osThreadCreate(osThread(tca6416_task), NULL);
 /* TCA6416测试任务 */

  osThreadDef(tca6416_task, test_tca6416_task, osPriorityNormal, 0, 128);
  tca6416_taskHandle = osThreadCreate(osThread(tca6416_task), NULL);
  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */
}

/* USER CODE BEGIN Header_start_tcp_task */
/**
 * @brief  Function implementing the lwip_task thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_tcp_task */
void start_tcp_task(void const *argument)
{
  /* init code for LWIP */
  MX_LWIP_Init();
  /* USER CODE BEGIN start_tcp_task */
  tcp_echo_init();
  uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息
  /* Infinite loop */
  for (;;)
  {
    uint32_t phyreg = 0;
    HAL_ETH_ReadPHYRegister(&heth, 0x00, PHY_BSR, &phyreg);
    if (((phyreg >> 2) & 0x1) != 0x1)
    {
      /* 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)
      {
        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;
      }
#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;
      }
#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_control == 1)
      {
        tcp_abort(server_pcb_control); // 热插拔下线时调用
        tcp_echo_flags_control = 0;
      }
    }
    else
    {
      /* 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;
      // }
    }

    vTaskDelay(1000);
    // osThreadTerminate(NULL);
  }
  /* USER CODE END start_tcp_task */
}

/* USER CODE BEGIN Header_start_led_toggle_task */
/**
 * @brief Function implementing the led_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_led_toggle_task */
void start_led_toggle_task(void const *argument)
{
  /* USER CODE BEGIN start_led_toggle_task */
  /* Infinite loop */
  for (;;)
  {
    HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);

    uart_lcd_ecll_control_current_out();
    vTaskDelay(500);
  }
  /* USER CODE END start_led_toggle_task */
}

/* USER CODE BEGIN Header_start_dac_task */
/**
 * @brief Function implementing the dac_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_dac_task */
void start_dac_task(void const *argument)
{
  /* USER CODE BEGIN start_dac_task */
  dac161s997_init();
  /* Infinite loop */
  for (;;)
  {
    osThreadSuspend(adc_taskHandle); // 暂停ADC任务，防止DAC采集时产生干????????,因为ADC和DAC采用的是同一路SPI，但是时序不????????
    dac161s997_output(DAC161S997_1, current_buff[0]);
    dac161s997_output(DAC161S997_2, current_buff[1]);
    osThreadResume(adc_taskHandle);
    vTaskDelay(100);
  }
  /* USER CODE END start_dac_task */
}

/* USER CODE BEGIN Header_start_adc_task */
/**
 * @brief ADC任务函数实现
 * @param argument: 未使用
 * @retval None
 */
/* USER CODE END Header_start_adc_task */
void start_adc_task(void const *argument)
{
  /* USER CODE BEGIN start_adc_task */
  ad7124_setup();
  /* Infinite loop */
  for (;;)
  {
   
    uint8_t ch = 0;
    for (ch = AD7124_AIN0; ch < AD7124_CHANNEL_EN_MAX; ch++)
    {
      ad7124_get_analog(ch);
    }
    
    vTaskDelay(10);
  }
  /* USER CODE END start_adc_task */
}

/* USER CODE BEGIN Header_start_gpio_di_do_task */
/**
 * @brief Function implementing the gpio_di_do_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_gpio_di_do_task */
void start_gpio_di_do_task(void const *argument)
{
  /* USER CODE BEGIN start_gpio_di_do_task */
  /* Infinite loop */
  for (;;)
  {
    user_gpio_trigger();
    vTaskDelay(100);
  }
  /* USER CODE END start_gpio_di_do_task */
}

/* USER CODE BEGIN Header_start_ec11_task */
/**
 * @brief Function implementing the ec11_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_ec11_task */
void start_ec11_task(void const *argument)
{
  /* USER CODE BEGIN start_ec11_task */
  /* Infinite loop */
  for (;;)
  {
    linear_encoder_get_data();
    uart_lcd_ec11_control_current();
    uart_forwarding_tcp();
    vTaskDelay(10);
  }
  /* USER CODE END start_ec11_task */
}



/**
 * @brief  Initialize AD7124 with multiple channels
 * @param  sample_rate: Sample rate selection (2Hz to 1kHz)
 * @retval None
 */

/* USER CODE END Application */
/**
 * @brief 测试CS引脚的功能
 *
 * 这个函数将不断地尝试拉低和拉高CS引脚，并读取其状态。
 * 它主要用于测试硬件连接和引脚操作的正确性。
 *
 * @return 无返回值
 */
void test_cs_pin(void)
{
    while (1) {
        ad7124_cs_on();  // 尝试拉低
        GPIO_PinState state = HAL_GPIO_ReadPin(SPI2_CS_GPIO_Port, SPI2_CS_Pin); 
        // 打印或观察state值，应该是GPIO_PIN_RESET
        HAL_Delay(100);
        
        ad7124_cs_off(); // 尝试拉高
        state = HAL_GPIO_ReadPin(SPI2_CS_GPIO_Port, SPI2_CS_Pin);
        // 打印或观察state值，应该是GPIO_PIN_SET
        HAL_Delay(100);
    }
}

/* USER CODE BEGIN Header_start_usart6_test_task */
/**
 * @brief Function implementing the usart6_test_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_usart6_test_task */
// 添加UART接收回调函数声明
static void UART6_RxCpltCallback(void);

// 添加接收缓冲区
static uint8_t uart6_rx_buffer[1];
static volatile uint8_t uart6_rx_data = 0;
static volatile uint8_t uart6_rx_flag = 0;

// UART接收完成回调函数
static void UART6_RxCpltCallback(void)
{
    uart6_rx_data = uart6_rx_buffer[0];
    uart6_rx_flag = 1;
    // 重新启动接收
    HAL_UART_Receive_IT(&huart6, uart6_rx_buffer, 1);
}

void start_usart6_test_task(void const *argument)
{
  /* USER CODE BEGIN start_usart6_test_task */
  uint8_t rx_buffer[1];  // 接收缓冲区
  err_t err;
  
  // 确保UART6已正确初始化
  if (huart6.Instance == NULL) {
    Error_Handler();
  }
  
  // 重新初始化UART6
  HAL_UART_DeInit(&huart6);
  huart6.Init.BaudRate = 1200;
  huart6.Init.WordLength = UART_WORDLENGTH_8B;
  huart6.Init.StopBits = UART_STOPBITS_1;
  huart6.Init.Parity = UART_PARITY_NONE;
  huart6.Init.Mode = UART_MODE_TX_RX;
  huart6.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart6.Init.OverSampling = UART_OVERSAMPLING_16;
  
  // 清除所有标志位
  __HAL_UART_CLEAR_FLAG(&huart6, UART_FLAG_RXNE);
  __HAL_UART_CLEAR_FLAG(&huart6, UART_FLAG_PE);
  __HAL_UART_CLEAR_FLAG(&huart6, UART_FLAG_FE);
  __HAL_UART_CLEAR_FLAG(&huart6, UART_FLAG_ORE);
  
  if (HAL_UART_Init(&huart6) != HAL_OK) {
    Error_Handler();
  }
  
  /* Infinite loop */
  for(;;)
  {
    // 直接检查接收标志
    if (__HAL_UART_GET_FLAG(&huart6, UART_FLAG_RXNE))
    {
      // 读取数据寄存器的原始值
      uart6_dr_raw = huart6.Instance->DR;
      
      // 解析数据寄存器的各个位
      uart6_data_bits = (uint8_t)(uart6_dr_raw & 0xFF);        // 低8位是数据位
      uart6_parity_bit = (uint8_t)((uart6_dr_raw >> 8) & 0x1); // 第9位是校验位
      uart6_stop_bits = (uint8_t)((uart6_dr_raw >> 9) & 0x3);  // 第10-11位是停止位
      
      // 存储错误标志
      uart6_error_flags = 0;
      if (__HAL_UART_GET_FLAG(&huart6, UART_FLAG_PE)) uart6_error_flags |= 0x01;
      if (__HAL_UART_GET_FLAG(&huart6, UART_FLAG_FE)) uart6_error_flags |= 0x02;
      if (__HAL_UART_GET_FLAG(&huart6, UART_FLAG_ORE)) uart6_error_flags |= 0x04;
      
      // 使用数据位作为接收数据
      rx_buffer[0] = uart6_data_bits;
      
      // 检查是否有接收错误
      if (uart6_error_flags == 0)
      {
        // 检查TCP连接状态
        if (server_pcb_control != NULL && tcp_echo_flags_control == 1)
        {
          // 尝试发送数据
          err = tcp_write(server_pcb_control, rx_buffer, 1, 1);
          if (err == ERR_OK)
          {
            err = tcp_output(server_pcb_control);
            if (err != ERR_OK)
            {
              // TCP输出失败，可能需要重新建立连接
              tcp_abort(server_pcb_control);
              server_pcb_control = NULL;
              tcp_echo_flags_control = 0;
            }
          }
          else if (err == ERR_MEM)
          {
            // 内存不足，等待一段时间后重试
            vTaskDelay(10);
          }
          else
          {
            // 其他错误，关闭连接
            tcp_abort(server_pcb_control);
            server_pcb_control = NULL;
            tcp_echo_flags_control = 0;
          }
        }
      }
      else
      {
        // 清除错误标志
        __HAL_UART_CLEAR_FLAG(&huart6, UART_FLAG_PE);
        __HAL_UART_CLEAR_FLAG(&huart6, UART_FLAG_FE);
        __HAL_UART_CLEAR_FLAG(&huart6, UART_FLAG_ORE);
      }
    }
    
    vTaskDelay(1);  // 给其他任务执行的机会
  }
  /* USER CODE END start_usart6_test_task */
}
void start_usart6_dma_test_task(void const *argument)
{

}

void test_tca6416_task(void const *argument)
{
    /* USER CODE BEGIN test_tca6416_task */
    uint8_t ret = 0;
    uint8_t addr_scan_result[8] = {0}; // 存储地址扫描结果
    
    // 等待系统稳定
    osDelay(100);
    
    // 步骤0: I2C地址扫描
    tca6416_test_step = 0;
    for(uint8_t addr = 0x20; addr <= 0x27; addr++)
    {
        I2C_Start();
        ret = I2C_SendByte(addr << 1);
        I2C_Stop();
        addr_scan_result[addr - 0x20] = ret; // 0=ACK, 1=NACK
        osDelay(10);
    }
    
    // 步骤1: 初始化第一个TCA6416芯片
    tca6416_test_step = 1;
    tca6416_init_result = TCA6416_Init();
    
    if(tca6416_init_result != 0)
    {
        // 初始化失败，停留在此步骤
        tca6416_error_count++;
        while(1)
        {
            osDelay(1000);
        }
    }
    
    // 步骤2: 初始化第二个TCA6416芯片（地址0x21）
    tca6416_test_step = 2;
    tca6416_init2_result = TCA6416_Init2();
    
    if(tca6416_init2_result != 0)
    {
        tca6416_error_count++;
        // 继续执行，不阻塞
    }
    
    // 步骤3: 初始化第三个TCA6416芯片（地址0x20，第二条总线）
    tca6416_test_step = 3;
    tca6416_init3_result = TCA6416_Init3();
    
    if(tca6416_init3_result != 0)
    {
        tca6416_error_count++;
        // 继续执行，不阻塞
    }
    
    // 步骤4: 配置第一个芯片所有IO为输出模式并置高电平
    tca6416_test_step = 4;
    
    // 设置Port0和Port1为输出（0=输出，1=输入）
    ret = TCA6416_SetPortDirection(0, 0x00);  // Port0全部设为输出
    if(ret != 0)
    {
        tca6416_error_count++;
        tca6416_i2c_ack_status = ret;
    }
    osDelay(10);
    
    ret = TCA6416_SetPortDirection(1, 0x00);  // Port1全部设为输出
    if(ret != 0)
    {
        tca6416_error_count++;
        tca6416_i2c_ack_status = ret;
    }
    osDelay(10);
    
    // 将第一个芯片所有IO置为高电平
    ret = TCA6416_WritePort(0, 0xFF);
    if(ret == 0) tca6416_port0_status = 0xFF;
    osDelay(10);
    
    ret = TCA6416_WritePort(1, 0xFF);
    if(ret == 0) tca6416_port1_status = 0xFF;
    osDelay(10);
    
    // 步骤5: 配置第二、三个芯片所有IO为输入模式
    tca6416_test_step = 5;
    
    // 第二个芯片设为输入
    if(tca6416_init2_result == 0)
    {
        TCA6416_SetPortDirection2(0, 0xFF);  // Port0全部设为输入
        osDelay(10);
        TCA6416_SetPortDirection2(1, 0xFF);  // Port1全部设为输入
        osDelay(10);
    }
    
    // 第三个芯片设为输入
    if(tca6416_init3_result == 0)
    {
        TCA6416_SetPortDirection3(0, 0xFF);  // Port0全部设为输入
        osDelay(10);
        TCA6416_SetPortDirection3(1, 0xFF);  // Port1全部设为输入
        osDelay(10);
    }
    
    // 步骤6: 循环检测所有芯片状态
    tca6416_test_step = 6;
    
    for(;;)
    {
        // 刷新第一个芯片的输出状态
        TCA6416_WritePort(0, 0xFF);
        osDelay(10);
        TCA6416_WritePort(1, 0xFF);
        osDelay(10);
        
        // 读取第一个芯片状态
        if(TCA6416_ReadPort(0, &tca6416_read_data) == 0)
        {
            tca6416_port0_status = tca6416_read_data;
        }
        osDelay(10);
        
        if(TCA6416_ReadPort(1, &tca6416_read_data) == 0)
        {
            tca6416_port1_status = tca6416_read_data;
        }
        osDelay(10);
        
        // 读取第二个芯片状态（如果初始化成功）
        if(tca6416_init2_result == 0)
        {
            if(TCA6416_ReadPort2(0, &tca6416_read_data) == 0)
            {
                tca6416_port2_status = tca6416_read_data;
            }
            osDelay(10);
            
            if(TCA6416_ReadPort2(1, &tca6416_read_data) == 0)
            {
                tca6416_port3_status = tca6416_read_data;
            }
            osDelay(10);
        }
        
        // 读取第三个芯片状态（如果初始化成功）
        if(tca6416_init3_result == 0)
        {
            if(TCA6416_ReadPort3(0, &tca6416_read_data) == 0)
            {
                tca6416_port4_status = tca6416_read_data;
            }
            osDelay(10);
            
            if(TCA6416_ReadPort3(1, &tca6416_read_data) == 0)
            {
                tca6416_port5_status = tca6416_read_data;
            }
            osDelay(10);
        }
        
        // 总延时1秒后重复
        osDelay(800);
    }
    /* USER CODE END test_tca6416_task */
}