/* 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"
#include "event_groups.h"  // 添加事件组支持

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdint.h>   // 添加标准整型定义
#include "stm32f4xx_hal.h"  // 添加HAL库定义
#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
#include "DAC8568.h"

// 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 adc_taskHandle;
osThreadId io_control_taskHandle;  // 合并后的IO控制任务
osThreadId dac_control_taskHandle; // 合并后的DAC控制任务
osThreadId usart6_test_taskHandle;
osThreadId dma_test_taskHandle;  // 添加DMA测试任务句柄

// 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

// 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;

// 添加数据缓冲相关变量
#define UART6_BUFFER_SIZE 128
#define UART6_TIMEOUT_MS 50  // 50ms超时，认为数据包结束

static uint8_t uart6_data_buffer[UART6_BUFFER_SIZE];
static volatile uint16_t uart6_buffer_index = 0;
static volatile uint32_t uart6_last_rx_time = 0;

// 添加任务同步对象
osSemaphoreId adc_semaphoreHandle;
osSemaphoreId uart6_semaphoreHandle;
osSemaphoreId io_semaphoreHandle;   // IO控制任务信号量
osSemaphoreId dac_semaphoreHandle;  // DAC控制任务信号量

// DMA测试相关变量
#define DMA_UART_RX_BUFFER_SIZE 256
#define DMA_UART_TX_BUFFER_SIZE 256
#define DMA_ADC_BUFFER_SIZE 32
#define DMA_DAC_BUFFER_SIZE 32

static uint8_t dma_uart_rx_buffer[DMA_UART_RX_BUFFER_SIZE];
static uint8_t dma_uart_tx_buffer[DMA_UART_TX_BUFFER_SIZE];
static uint16_t dma_adc_buffer[DMA_ADC_BUFFER_SIZE];
static uint16_t dma_dac_buffer[DMA_DAC_BUFFER_SIZE];

// DMA传输状态标志
volatile uint8_t dma_uart_rx_complete = 0;
volatile uint8_t dma_uart_tx_complete = 0;
volatile uint8_t dma_adc_complete = 0;
volatile uint8_t dma_dac_complete = 0;
volatile uint16_t dma_uart_rx_count = 0;
volatile uint16_t dma_uart_tx_count = 0;
volatile uint16_t dma_adc_count = 0;
volatile uint16_t dma_dac_count = 0;

// DMA错误计数
volatile uint32_t dma_uart_rx_errors = 0;
volatile uint32_t dma_uart_tx_errors = 0;
volatile uint32_t dma_adc_errors = 0;
volatile uint32_t dma_dac_errors = 0;

/* 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_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
/* USER CODE END FunctionPrototypes */

void start_tcp_task(void const *argument);
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);

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 */
  
  // 创建同步对象
  osSemaphoreDef(adc_semaphore);
  adc_semaphoreHandle = osSemaphoreCreate(osSemaphore(adc_semaphore), 1);
  
  osSemaphoreDef(uart6_semaphore);
  uart6_semaphoreHandle = osSemaphoreCreate(osSemaphore(uart6_semaphore), 1);
  
  osSemaphoreDef(io_semaphore);
  io_semaphoreHandle = osSemaphoreCreate(osSemaphore(io_semaphore), 1);
  
  osSemaphoreDef(dac_semaphore);
  dac_semaphoreHandle = osSemaphoreCreate(osSemaphore(dac_semaphore), 1);

  /* 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);

  /* HART测试任务 - 提高优先级和栈大小 */
  osThreadDef(usart6_test_task, start_usart6_test_task, osPriorityAboveNormal, 0, 256);
  usart6_test_taskHandle = osThreadCreate(osThread(usart6_test_task), NULL);

  /* ADC任务 - 提高优先级和栈大小 */
  osThreadDef(adc_task, start_adc_task, osPriorityNormal, 0, 256);
  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);
  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);
  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);

  /* 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_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 */
  // 初始化两个AD7124设备
  ad7124_setup(1);  // 初始化两个AD7124设备
  ad7124_setup(2);  // 初始化两个AD7124设备
  
  /* Infinite loop */
  for (;;)
  {
    // 读取第一个AD7124的所有通道
    for (uint8_t ch = AD7124_AIN0; ch < AD7124_CHANNEL_EN_MAX; ch++)
    {
      ad7124_get_analog(ch, 1);
    }
    
    // 读取第二个AD7124的所有通道
    for (uint8_t ch = AD7124_AIN0; ch < AD7124_CHANNEL_EN_MAX; ch++)
    {
      ad7124_get_analog(ch, 2);
    }
    
    vTaskDelay(10);
  }
  /* USER CODE END start_adc_task */
}

/* USER CODE BEGIN Header_start_io_control_task */
/**
 * @brief Function implementing the io_control_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_io_control_task */
void start_io_control_task(void const *argument)
{
    /* USER CODE BEGIN start_io_control_task */
    uint8_t ret = 0;
    uint8_t addr_scan_result[8] = {0};
    
    // 等待系统稳定
    osDelay(100);
    
    // 初始化TCA6416
    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;
        osDelay(10);
    }
    
    // 初始化三个TCA6416芯片
    tca6416_init_result = TCA6416_Init();
    tca6416_init2_result = TCA6416_Init2();
    tca6416_init3_result = TCA6416_Init3();
    
    // 配置TCA6416端口方向
    TCA6416_SetPortDirection(0, 0x00);  // Port0输出
    TCA6416_SetPortDirection(1, 0x00);  // Port1输出
    
    if(tca6416_init2_result == 0)
    {
        TCA6416_SetPortDirection2(0, 0xFF);  // Port0输入
        TCA6416_SetPortDirection2(1, 0xFF);  // Port1输入
    }
    
    if(tca6416_init3_result == 0)
    {
        TCA6416_SetPortDirection3(0, 0xFF);  // Port0输入
        TCA6416_SetPortDirection3(1, 0xFF);  // Port1输入
    }
    
    /* Infinite loop */
    for(;;)
    {
        // 获取信号量
        if(osSemaphoreWait(io_semaphoreHandle, 100) == osOK)
        {
            // 处理GPIO输入输出
            user_gpio_trigger();
            
            // 读取TCA6416状态
            if(TCA6416_ReadPort(0, &tca6416_read_data) == 0)
            {
                tca6416_port0_status = tca6416_read_data;
            }
            
            if(TCA6416_ReadPort(1, &tca6416_read_data) == 0)
            {
                tca6416_port1_status = tca6416_read_data;
            }
            
            if(tca6416_init2_result == 0)
            {
                if(TCA6416_ReadPort2(0, &tca6416_read_data) == 0)
                {
                    tca6416_port2_status = tca6416_read_data;
                }
                
                if(TCA6416_ReadPort2(1, &tca6416_read_data) == 0)
                {
                    tca6416_port3_status = tca6416_read_data;
                }
            }
            
            if(tca6416_init3_result == 0)
            {
                if(TCA6416_ReadPort3(0, &tca6416_read_data) == 0)
                {
                    tca6416_port4_status = tca6416_read_data;
                }
                
                if(TCA6416_ReadPort3(1, &tca6416_read_data) == 0)
                {
                    tca6416_port5_status = tca6416_read_data;
                }
            }
            
            // 释放信号量
            osSemaphoreRelease(io_semaphoreHandle);
        }
        
        // 200ms扫描周期
        osDelay(200);
    }
    /* USER CODE END start_io_control_task */
}

/* USER CODE BEGIN Header_start_dac_control_task */
/**
 * @brief Function implementing the dac_control_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_dac_control_task */
void start_dac_control_task(void const *argument)
{
    /* USER CODE BEGIN start_dac_control_task */
    // 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);
    DAC8568_EnableStaticInternalRef();
    
    /* Infinite loop */
    for(;;)
    {
        // 获取信号量
        if(osSemaphoreWait(dac_semaphoreHandle, 100) == osOK)
        {
            // 处理DAC161S997输出
            // current_buff[0] = 12.0f;  // 示例值
            // dac161s997_output(DAC161S997, current_buff[0]);
            
            // 处理DAC8568输出
            // uint16_t dac_value = 32768;  // 示例值
            // DAC8568_WriteAndUpdate(BROADCAST, dac_value);
            
            // 释放信号量
            osSemaphoreRelease(dac_semaphoreHandle);
        }
        
        // 500ms更新周期
        osDelay(500);
    }
    /* 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)
{
    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);
}
//HART1 串口测试任务
void start_usart6_test_task(void const *argument)
{
  /* USER CODE BEGIN start_usart6_test_task */
  err_t err;
  uint32_t current_time;
  
  // 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();
  }
  
  // 初始化缓冲区
  uart6_buffer_index = 0;
  uart6_last_rx_time = 0;
  
  /* Infinite loop */
  for(;;)
  {
    current_time = HAL_GetTick();
    
    // 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;
      
      // 检查是否有接收错误
      if (uart6_error_flags == 0)
      {
        // 将数据添加到缓冲区
        if (uart6_buffer_index < UART6_BUFFER_SIZE)
        {
          uart6_data_buffer[uart6_buffer_index++] = uart6_data_bits;
          uart6_last_rx_time = current_time;  // 更新最后接收时间
        }
        else
        {
          // 缓冲区满，强制发送
          if (server_pcb_control != NULL && tcp_echo_flags_control == 1 && uart6_buffer_index > 0)
          {
            err = tcp_write(server_pcb_control, uart6_data_buffer, uart6_buffer_index, 1);
            if (err == ERR_OK)
            {
              tcp_output(server_pcb_control);
            }
          }
          // 重置缓冲区
          uart6_buffer_index = 0;
          uart6_data_buffer[uart6_buffer_index++] = uart6_data_bits;
          uart6_last_rx_time = current_time;
        }
      }
      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);
      }
    }
    
    // 检查超时，如果超时且有数据则发送
    if (uart6_buffer_index > 0 && 
        uart6_last_rx_time > 0 && 
        (current_time - uart6_last_rx_time) >= UART6_TIMEOUT_MS)
    {
             // 检查TCP连接状态并发送缓冲区数据
       if (server_pcb_control != NULL && tcp_echo_flags_control == 1)
       {
         err = tcp_write(server_pcb_control, uart6_data_buffer, uart6_buffer_index, 1);
         if (err == ERR_OK)
         {
           err = tcp_output(server_pcb_control);
           if (err != ERR_OK)
           {
             // TCP输出失败，关闭连接
             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);
           continue;  // 不清除缓冲区，下次重试
         }
         else
         {
           // 其他错误（如连接已关闭），关闭连接
           tcp_abort(server_pcb_control);
           server_pcb_control = NULL;
           tcp_echo_flags_control = 0;
         }
       }
      
      // 重置缓冲区
      uart6_buffer_index = 0;
      uart6_last_rx_time = 0;
    }
    
    vTaskDelay(5);  // 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};
    
    // 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();
    
    // 步骤2: 初始化第二个TCA6416芯片（地址0x21）
    tca6416_test_step = 2;
    tca6416_init2_result = TCA6416_Init2();
    
    // 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();
    
    // 设置第一个芯片Port0和Port1为输出（0=输出，1=输入）
    // 注意：输出状态由tcpecho_recv_control控制，这里只设置方向
    ret = TCA6416_SetPortDirection(0, 0x00);  // Port0全部设为输出
    osDelay(10);
    ret = TCA6416_SetPortDirection(1, 0x00);  // Port1全部设为输出
    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 - 优化扫描周期
    tca6416_test_step = 6;
    
    for(;;)
    {
        // 获取信号量
        if(osSemaphoreWait(tca6416_semaphoreHandle, 100) == osOK)
        {
            // 读取第一个芯片状态
            if(TCA6416_ReadPort(0, &tca6416_read_data) == 0)
            {
                tca6416_port0_status = tca6416_read_data;
            }
            
            if(TCA6416_ReadPort(1, &tca6416_read_data) == 0)
            {
                tca6416_port1_status = tca6416_read_data;
            }
            
            // 读取第二个芯片状态
            if(tca6416_init2_result == 0)
            {
                if(TCA6416_ReadPort2(0, &tca6416_read_data) == 0)
                {
                    tca6416_port2_status = tca6416_read_data;
                }
                
                if(TCA6416_ReadPort2(1, &tca6416_read_data) == 0)
                {
                    tca6416_port3_status = tca6416_read_data;
                }
            }
            
            // 读取第三个芯片状态
            if(tca6416_init3_result == 0)
            {
                if(TCA6416_ReadPort3(0, &tca6416_read_data) == 0)
                {
                    tca6416_port4_status = tca6416_read_data;
                }
                
                if(TCA6416_ReadPort3(1, &tca6416_read_data) == 0)
                {
                    tca6416_port5_status = tca6416_read_data;
                }
            }
            
            // 释放信号量
            osSemaphoreRelease(tca6416_semaphoreHandle);
        }
        
        // 缩短扫描周期到200ms
        osDelay(200);
    }
    /* USER CODE END test_tca6416_task */
}

/* USER CODE BEGIN Header_start_dac161s997_test_task */
/**
 * @brief Function implementing the dac161s997_test_task thread.
 * @param argument: Not used
 * @retval None
 */
/* 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 */
    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]);
        // }
        
        osDelay(100);  // 延时100ms
    }
    /* USER CODE END start_dac161s997_test_task */
}

/* USER CODE BEGIN Header_start_dac8568_test_task */
/**
 * @brief  Function implementing the dac8568_test_task thread.
 * @param  argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_dac8568_test_task */
void start_dac8568_test_task(void const *argument)
{
    // 初始化DAC8568
    DAC8568_Init(&hspi3);  // 使用SPI3
    HAL_Delay(10);
    
    // 启用静态内部参考(2.5V)
    DAC8568_EnableStaticInternalRef();

    while(1)
    {
      //uint16_t i = 65535;
      //DAC8568_WriteAndUpdate(CHANNEL_A, (uint16_t)i);
      //DAC8568_WriteAndUpdate(CHANNEL_B, (uint16_t)i);
      //DAC8568_WriteAndUpdate(CHANNEL_C, (uint16_t)i);
      //DAC8568_WriteAndUpdate(CHANNEL_D, (uint16_t)i);
      //DAC8568_WriteAndUpdate(CHANNEL_E, (uint16_t)i);
      //DAC8568_WriteAndUpdate(CHANNEL_F, (uint16_t)i);
      //DAC8568_WriteAndUpdate(CHANNEL_G, (uint16_t)i);
      //DAC8568_WriteAndUpdate(CHANNEL_H, (uint16_t)i); 


        // for (int i = 65535; i >= 0; i = i - 4096) // 从65535到0，步长4096
        // {
            
        //     // 写入并更新所有通道的值
        //     DAC8568_WriteAndUpdate(BROADCAST, (uint16_t)i);
            
        //     // 计算电压值 (假设Vref=2.5V，16位分辨率，2倍增益)
        //     float voltage = 2.5f * 2.0f * i / 65536.0f;
            
            // 延时2秒
            osDelay(1000);
        //}
    }
}

/* USER CODE BEGIN Header_start_dma_test_task */
/**
 * @brief Function implementing the dma_test_task thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_start_dma_test_task */
void start_dma_test_task(void const *argument)
{
  /* USER CODE BEGIN start_dma_test_task */
  HAL_StatusTypeDef status;
  
  // 等待系统稳定
  osDelay(1000);
  
  // 初始化DMA
  // 1. 配置UART6 DMA
  __HAL_RCC_DMA2_CLK_ENABLE();  // 使能DMA2时钟
  
  // 配置UART6接收DMA
  hdma_uart6_rx.Instance = DMA2_Stream1;
  hdma_uart6_rx.Init.Channel = DMA_CHANNEL_5;
  hdma_uart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
  hdma_uart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
  hdma_uart6_rx.Init.MemInc = DMA_MINC_ENABLE;
  hdma_uart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
  hdma_uart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
  hdma_uart6_rx.Init.Mode = DMA_CIRCULAR;  // 循环模式
  hdma_uart6_rx.Init.Priority = DMA_PRIORITY_HIGH;
  hdma_uart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
  
  status = HAL_DMA_Init(&hdma_uart6_rx);
  if (status != HAL_OK) {
    dma_uart_rx_errors++;
    Error_Handler();
  }
  
  // 配置UART6发送DMA
  hdma_uart6_tx.Instance = DMA2_Stream6;
  hdma_uart6_tx.Init.Channel = DMA_CHANNEL_5;
  hdma_uart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
  hdma_uart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
  hdma_uart6_tx.Init.MemInc = DMA_MINC_ENABLE;
  hdma_uart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
  hdma_uart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
  hdma_uart6_tx.Init.Mode = DMA_NORMAL;  // 正常模式
  hdma_uart6_tx.Init.Priority = DMA_PRIORITY_HIGH;
  hdma_uart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
  
  status = HAL_DMA_Init(&hdma_uart6_tx);
  if (status != HAL_OK) {
    dma_uart_tx_errors++;
    Error_Handler();
  }
  
  // 关联DMA到UART6
  __HAL_LINKDMA(&huart6, hdmarx, hdma_uart6_rx);
  __HAL_LINKDMA(&huart6, hdmatx, hdma_uart6_tx);
  
  // 启动UART6 DMA接收
  status = HAL_UART_Receive_DMA(&huart6, dma_uart_rx_buffer, DMA_UART_RX_BUFFER_SIZE);
  if (status != HAL_OK) {
    dma_uart_rx_errors++;
    Error_Handler();
  }
  
  /* Infinite loop */
  for(;;)
  {
    // 检查DMA传输状态
    if (dma_uart_rx_complete) {
      // 处理接收到的数据
      dma_uart_rx_count++;
      dma_uart_rx_complete = 0;
      
      // 这里可以添加数据处理逻辑
      // 例如：将接收到的数据通过TCP发送出去
      if (server_pcb_control != NULL && tcp_echo_flags_control == 1) {
        err_t err = tcp_write(server_pcb_control, dma_uart_rx_buffer, DMA_UART_RX_BUFFER_SIZE, 1);
        if (err == ERR_OK) {
          tcp_output(server_pcb_control);
        }
      }
    }
    
    // 测试DMA发送
    if (dma_uart_tx_complete) {
      dma_uart_tx_count++;
      dma_uart_tx_complete = 0;
      
      // 准备新的测试数据
      for (int i = 0; i < DMA_UART_TX_BUFFER_SIZE; i++) {
        dma_uart_tx_buffer[i] = 'A' + (i % 26);  // 简单的测试数据
      }
      
      // 启动新的DMA发送
      status = HAL_UART_Transmit_DMA(&huart6, dma_uart_tx_buffer, DMA_UART_TX_BUFFER_SIZE);
      if (status != HAL_OK) {
        dma_uart_tx_errors++;
      }
    }
    
    // 每100ms检查一次状态
    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);
  }
}