1032 lines
32 KiB
C
1032 lines
32 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* File Name : freertos.c
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* Description : Code for freertos applications
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* @file freertos.c
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "cmsis_os.h"
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#include "event_groups.h" // 添加事件组支持
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include <stdint.h> // 添加标准整型定义
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#include "stm32f4xx_hal.h" // 添加HAL库定义
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#include "dac161s997.h"
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#include "ad7124.h"
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#include "usart.h"
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#include "communication_protocol.h"
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#include "tim.h"
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#include "gpio.h"
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#include "tcpserverc.h"
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#include "lwip.h"
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#include "lwip/tcp.h" // 添加TCP相关定义
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#include "uart_lcd.h"
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#include "user_gpio.h"
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#include "linear_encoder.h"
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#include "lan8742.h"
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#include "ad7124_test.h"
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#include <string.h> // 添加string.h用于字符串操作
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#include "ht1200m.h"
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#include "TCA6416.h" // 添加TCA6416头文件
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#include "DAC8568.h"
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#include "dma.h" // 添加DMA头文件
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// 声明外部变量
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extern ad7124_analog_t ad7124_analog[AD7124_CHANNEL_EN_MAX];
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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osThreadId lwip_taskHandle;
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osThreadId led_taskHandle;
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osThreadId adc_taskHandle;
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osThreadId io_control_taskHandle; // 合并后的IO控制任务
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osThreadId dac_control_taskHandle; // 合并后的DAC控制任务
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osThreadId usart6_test_taskHandle;
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osThreadId dma_test_taskHandle; // 添加DMA测试任务句柄
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// 添加调试变量
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static volatile uint32_t uart6_dr_raw = 0; // UART数据寄存器的原始值
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static volatile uint8_t uart6_data_bits = 0; // 数据位（8位）
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static volatile uint8_t uart6_parity_bit = 0; // 校验位
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static volatile uint8_t uart6_stop_bits = 0; // 停止位
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static volatile uint8_t uart6_error_flags = 0; // 错误标志
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// 添加RTS引脚监控变量
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volatile GPIO_PinState rts_pin_state = GPIO_PIN_RESET; // RTS引脚当前状态
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volatile GPIO_PinState rst_pin_state = GPIO_PIN_RESET; // RTS引脚当前状态
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volatile uint32_t rts_pin_pull = 0; // RTS引脚上下拉配置
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volatile uint32_t rts_pin_mode = 0; // RTS引脚模式
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volatile uint32_t rts_pin_speed = 0; // RTS引脚速度
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volatile uint32_t rts_pin_alternate = 0; // RTS引脚复用功能
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// 添加全局变量用于存储TCA6416引脚状态
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volatile uint8_t tca6416_port0_status = 0; // 第一个TCA6416的Port0状态
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volatile uint8_t tca6416_port1_status = 0; // 第一个TCA6416的Port1状态
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volatile uint8_t tca6416_port2_status = 0; // 第二个TCA6416的Port0状态
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volatile uint8_t tca6416_port3_status = 0; // 第二个TCA6416的Port1状态
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volatile uint8_t tca6416_port4_status = 0; // 第三个TCA6416的Port0状态
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volatile uint8_t tca6416_port5_status = 0; // 第三个TCA6416的Port1状态
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// 添加TCA6416测试相关的调试变量
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volatile uint8_t tca6416_test_step = 0; // 当前测试步骤
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volatile uint8_t tca6416_init_result = 0xFF; // 初始化结果
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volatile uint8_t tca6416_init2_result = 0xFF; // 第二个芯片初始化结果
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volatile uint8_t tca6416_init3_result = 0xFF; // 第三个芯片初始化结果
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volatile uint8_t tca6416_write_data = 0; // 写入的数据
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volatile uint8_t tca6416_read_data = 0; // 读取的数据
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volatile uint8_t tca6416_error_count = 0; // 错误计数
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volatile uint8_t tca6416_test_pattern = 0; // 测试模式
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volatile uint8_t tca6416_port0_dir = 0; // Port0方向寄存器值
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volatile uint8_t tca6416_port1_dir = 0; // Port1方向寄存器值
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volatile uint8_t tca6416_i2c_ack_status = 0; // I2C应答状态
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// 添加接收缓冲区
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static uint8_t uart6_rx_buffer[1];
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static volatile uint8_t uart6_rx_data = 0;
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static volatile uint8_t uart6_rx_flag = 0;
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// 添加数据缓冲相关变量
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#define UART6_BUFFER_SIZE 128
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#define UART6_TIMEOUT_MS 50 // 50ms超时，认为数据包结束
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static uint8_t uart6_data_buffer[UART6_BUFFER_SIZE];
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static volatile uint16_t uart6_buffer_index = 0;
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static volatile uint32_t uart6_last_rx_time = 0;
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// 添加任务同步对象
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osSemaphoreId adc_semaphoreHandle;
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osSemaphoreId uart6_semaphoreHandle;
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osSemaphoreId io_semaphoreHandle; // IO控制任务信号量
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osSemaphoreId dac_semaphoreHandle; // DAC控制任务信号量
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// DMA测试相关变量
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#define DMA_UART_RX_BUFFER_SIZE 256
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#define DMA_UART_TX_BUFFER_SIZE 256
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#define DMA_ADC_BUFFER_SIZE 32
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#define DMA_DAC_BUFFER_SIZE 32
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static uint8_t dma_uart_rx_buffer[DMA_UART_RX_BUFFER_SIZE];
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static uint8_t dma_uart_tx_buffer[DMA_UART_TX_BUFFER_SIZE];
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static uint16_t dma_adc_buffer[DMA_ADC_BUFFER_SIZE];
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static uint16_t dma_dac_buffer[DMA_DAC_BUFFER_SIZE];
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// DMA传输状态标志
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volatile uint8_t dma_uart_rx_complete = 0;
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volatile uint8_t dma_uart_tx_complete = 0;
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volatile uint8_t dma_adc_complete = 0;
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volatile uint8_t dma_dac_complete = 0;
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volatile uint16_t dma_uart_rx_count = 0;
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volatile uint16_t dma_uart_tx_count = 0;
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volatile uint16_t dma_adc_count = 0;
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volatile uint16_t dma_dac_count = 0;
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// DMA错误计数
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volatile uint32_t dma_uart_rx_errors = 0;
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volatile uint32_t dma_uart_tx_errors = 0;
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volatile uint32_t dma_adc_errors = 0;
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volatile uint32_t dma_dac_errors = 0;
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// 添加信号量句柄
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osSemaphoreId tca6416_semaphoreHandle; // 添加TCA6416信号量句柄
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// 添加DMA句柄
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DMA_HandleTypeDef hdma_uart6_rx; // UART6接收DMA句柄
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DMA_HandleTypeDef hdma_uart6_tx; // UART6发送DMA句柄
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/* USER CODE END Variables */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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extern float current_buff[2];
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extern uint8_t TCA6416_WritePort_buff[2];
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extern struct netif gnetif;
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extern ETH_HandleTypeDef heth;
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extern struct tcp_pcb *server_pcb_hart1;
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extern struct tcp_pcb *server_pcb_hart2;
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extern struct tcp_pcb *server_pcb_ble1;
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extern struct tcp_pcb *server_pcb_ble2;
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extern struct tcp_pcb *server_pcb_control;
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extern void tcp_abort(struct tcp_pcb *pcb);
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void start_usart6_test_task(void const *argument); // 添加USART6测试任务函数声明
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void start_io_control_task(void const *argument); // 添加IO控制任务函数声明
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void start_dac_control_task(void const *argument); // 添加DAC控制任务函数声明
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void start_dma_test_task(void const *argument); // 添加DMA测试任务函数声明
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// 声明外部回调函数
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extern void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart);
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extern void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);
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extern void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart);
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/* USER CODE END FunctionPrototypes */
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void start_tcp_task(void const *argument);
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void start_led_toggle_task(void const *argument);
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void start_adc_task(void const *argument);
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void start_io_control_task(void const *argument);
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void start_dac_control_task(void const *argument);
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void start_dac161s997_test_task(void const *argument);
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extern void MX_LWIP_Init(void);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/* GetIdleTaskMemory prototype (linked to static allocation support) */
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
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/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
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static StaticTask_t xIdleTaskTCBBuffer;
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static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];
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void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize)
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{
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*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
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*ppxIdleTaskStackBuffer = &xIdleStack[0];
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*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
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/* place for user code */
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}
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/* USER CODE END GET_IDLE_TASK_MEMORY */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void)
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{
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/* USER CODE BEGIN Init */
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// 创建同步对象
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osSemaphoreDef(adc_semaphore);
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adc_semaphoreHandle = osSemaphoreCreate(osSemaphore(adc_semaphore), 1);
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osSemaphoreDef(uart6_semaphore);
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uart6_semaphoreHandle = osSemaphoreCreate(osSemaphore(uart6_semaphore), 1);
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osSemaphoreDef(io_semaphore);
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io_semaphoreHandle = osSemaphoreCreate(osSemaphore(io_semaphore), 1);
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osSemaphoreDef(dac_semaphore);
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dac_semaphoreHandle = osSemaphoreCreate(osSemaphore(dac_semaphore), 1);
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// 创建TCA6416信号量
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osSemaphoreDef(tca6416_semaphore);
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tca6416_semaphoreHandle = osSemaphoreCreate(osSemaphore(tca6416_semaphore), 1);
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/* Create the thread(s) */
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/* definition and creation of lwip_task */
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osThreadDef(lwip_task, start_tcp_task, osPriorityHigh, 0, 512);
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lwip_taskHandle = osThreadCreate(osThread(lwip_task), NULL);
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/* HART测试任务 - 提高优先级和栈大小 */
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osThreadDef(usart6_test_task, start_usart6_test_task, osPriorityAboveNormal, 0, 256);
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usart6_test_taskHandle = osThreadCreate(osThread(usart6_test_task), NULL);
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/* ADC任务 - 提高优先级和栈大小 */
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osThreadDef(adc_task, start_adc_task, osPriorityNormal, 0, 256);
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adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);
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/* IO控制任务 - 合并TCA6416和GPIO控制 */
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osThreadDef(io_control_task, start_io_control_task, osPriorityNormal, 0, 256);
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io_control_taskHandle = osThreadCreate(osThread(io_control_task), NULL);
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/* DAC控制任务 DAC8568控制 */
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osThreadDef(dac_control_task, start_dac_control_task, osPriorityBelowNormal, 0, 256);
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dac_control_taskHandle = osThreadCreate(osThread(dac_control_task), NULL);
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/* DAC161S997测试任务 - 使用较高优先级以确保及时处理 */
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osThreadDef(dac161s997_test_task, start_dac161s997_test_task, osPriorityAboveNormal, 0, 256);
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osThreadCreate(osThread(dac161s997_test_task), NULL);
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/* USER CODE END RTOS_THREADS */
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}
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/* USER CODE BEGIN Header_start_tcp_task */
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/**
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* @brief Function implementing the lwip_task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_start_tcp_task */
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void start_tcp_task(void const *argument)
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{
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/* init code for LWIP */
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MX_LWIP_Init();
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/* USER CODE BEGIN start_tcp_task */
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// 等待网络初始化完成
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osDelay(1000);
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// 初始化TCP服务器
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tcp_echo_init();
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uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息
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// 添加网络状态变量
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static uint8_t last_network_state = 0;
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static uint32_t network_down_time = 0;
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/* Infinite loop */
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for (;;)
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{
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uint32_t phyreg = 0;
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HAL_ETH_ReadPHYRegister(&heth, 0x00, PHY_BSR, &phyreg);
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uint8_t current_network_state = ((phyreg >> 2) & 0x1);
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// 网络状态发生变化
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if (current_network_state != last_network_state)
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{
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if (current_network_state == 0) // 网络断开
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{
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/* When the netif link is down this function must be called */
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netif_set_link_down(&gnetif);
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netif_set_down(&gnetif);
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network_down_time = HAL_GetTick();
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// 关闭所有TCP连接
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if (tcp_echo_flags_hart1 == 1)
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{
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tcp_abort(server_pcb_hart1);
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tcp_echo_flags_hart1 = 0;
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}
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if (tcp_echo_flags_hart2 == 1)
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{
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tcp_abort(server_pcb_hart2);
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tcp_echo_flags_hart2 = 0;
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}
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#if (BLE2_USART6 == 1)
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if (tcp_echo_flags_ble1 == 1)
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{
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tcp_abort(server_pcb_ble1);
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tcp_echo_flags_ble1 = 0;
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}
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#endif
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if (tcp_echo_flags_ble2 == 1)
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{
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tcp_abort(server_pcb_ble2);
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tcp_echo_flags_ble2 = 0;
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}
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if (tcp_echo_flags_control == 1)
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{
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tcp_abort(server_pcb_control);
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tcp_echo_flags_control = 0;
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}
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}
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else // 网络恢复
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{
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/* When the netif is fully configured this function must be called */
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netif_set_link_up(&gnetif);
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netif_set_up(&gnetif);
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// 等待网络稳定
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osDelay(1000);
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// 重新初始化TCP服务器
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tcp_echo_init();
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uart_lcd_draw_ipaddr();
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}
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last_network_state = current_network_state;
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}
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// 网络断开超过5秒，尝试重新初始化
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else if (current_network_state == 0 && (HAL_GetTick() - network_down_time) > 5000)
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{
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// 尝试重新初始化网络
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MX_LWIP_Init();
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osDelay(1000);
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// 重新检查网络状态
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HAL_ETH_ReadPHYRegister(&heth, 0x00, PHY_BSR, &phyreg);
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if (((phyreg >> 2) & 0x1) == 1)
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{
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netif_set_link_up(&gnetif);
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netif_set_up(&gnetif);
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tcp_echo_init();
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uart_lcd_draw_ipaddr();
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last_network_state = 1;
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}
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else
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{
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network_down_time = HAL_GetTick();
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}
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}
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vTaskDelay(1000);
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}
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/* USER CODE END start_tcp_task */
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}
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/* USER CODE BEGIN Header_start_led_toggle_task */
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||
/**
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* @brief Function implementing the led_task thread.
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* @param argument: Not used
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* @retval None
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*/
|
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/* USER CODE END Header_start_led_toggle_task */
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void start_led_toggle_task(void const *argument)
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{
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/* USER CODE BEGIN start_led_toggle_task */
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/* Infinite loop */
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for (;;)
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{
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||
HAL_GPIO_TogglePin(LED3_G_GPIO_Port, LED3_G_Pin);
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uart_lcd_ecll_control_current_out();
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vTaskDelay(500);
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}
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/* USER CODE END start_led_toggle_task */
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}
|
||
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/* USER CODE BEGIN Header_start_adc_task */
|
||
/**
|
||
* @brief ADC任务函数实现
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||
* @param argument: 未使用
|
||
* @retval None
|
||
*/
|
||
/* USER CODE END Header_start_adc_task */
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void start_adc_task(void const *argument)
|
||
{
|
||
/* USER CODE BEGIN start_adc_task */
|
||
// 初始化两个AD7124设备
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||
ad7124_setup(1); // 初始化两个AD7124设备
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||
ad7124_setup(2); // 初始化两个AD7124设备
|
||
|
||
/* Infinite loop */
|
||
for (;;)
|
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{
|
||
// 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();
|
||
|
||
// 配置第一个TCA6416芯片的端口方向和输出状态
|
||
if(tca6416_init_result == 0) // 确保初始化成功
|
||
{
|
||
// 设置端口为输出模式
|
||
TCA6416_SetPortDirection(0, 0x00); // Port0输出
|
||
TCA6416_SetPortDirection(1, 0x00); // Port1输出
|
||
osDelay(5);
|
||
}
|
||
|
||
// 配置其他两个芯片的端口方向
|
||
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)
|
||
{
|
||
TCA6416_WritePort(0, TCA6416_WritePort_buff[1]);
|
||
osDelay(5);
|
||
TCA6416_WritePort(1, TCA6416_WritePort_buff[0]);
|
||
osDelay(5);
|
||
|
||
// 读取其他芯片状态
|
||
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;
|
||
}
|
||
}
|
||
|
||
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 */
|
||
}
|
||
|
||
// 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 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)
|
||
{
|
||
|
||
// 等待系统稳定
|
||
osDelay(1000); // 启动延时1秒等待系统稳定
|
||
|
||
// 初始化DAC161S997
|
||
dac161s997_init();
|
||
/* DAC161必须脉冲输出*/
|
||
for (;;)
|
||
{
|
||
|
||
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 */
|
||
}
|
||
|
||
/* 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 */
|
||
} |