807 lines
24 KiB
C
807 lines
24 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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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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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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// 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 dac_taskHandle;
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osThreadId adc_taskHandle;
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osThreadId gpio_di_do_taskHandle;
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osThreadId ec11_taskHandle;
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osThreadId ad7124_test_taskHandle;
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osThreadId usart6_test_taskHandle; // 添加USART6测试任务句柄
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osThreadId tca6416_taskHandle; // 添加TCA6416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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// 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_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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/* 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 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_tca6416_task(void const *argument); // 添加TCA6416任务函数声明
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void test_tca6416_task(void const *argument); // 添加TCA6416测试任务函数声明
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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_dac_task(void const *argument);
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void start_adc_task(void const *argument);
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void start_gpio_di_do_task(void const *argument);
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void start_ec11_task(void const *argument);
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void start_ad7124_test_task(void const *argument);
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void ad7124_multi_channel_init(uint8_t sample_rate);
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void start_adc_task(void const *argument);
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void test_cs_pin(void);
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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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/* USER CODE END Init */
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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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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/* definition and creation of led_task */
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// osThreadDef(led_task, start_led_toggle_task, osPriorityLow, 0, 128);
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// led_taskHandle = osThreadCreate(osThread(led_task), NULL);
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/* definition and creation of dac_task */
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// osThreadDef(dac_task, start_dac_task, osPriorityNormal, 0, 512);
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// dac_taskHandle = osThreadCreate(osThread(dac_task), NULL);
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osThreadDef(adc_task, start_adc_task, osPriorityBelowNormal, 0, 128);
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adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);
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/* definition and creation of adc_task */
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// osThreadDef(adc_task, start_adc_task, osPriorityBelowNormal, 0, 128);
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// adc_taskHandle = osThreadCreate(osThread(adc_task), NULL);
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/* definition and creation of gpio_di_do_task */
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//osThreadDef(gpio_di_do_task, start_gpio_di_do_task, osPriorityNormal, 0, 128);
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//gpio_di_do_taskHandle = osThreadCreate(osThread(gpio_di_do_task), NULL);
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/* definition and creation of ec11_task */
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// osThreadDef(ec11_task, start_ec11_task, osPriorityNormal, 0, 512);
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// ec11_taskHandle = osThreadCreate(osThread(ec11_task), NULL);
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/* definition and creation of ad7124_test_task */
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// osThreadDef(ad7124_test_task, start_ad7124_test_task, osPriorityNormal, 0, 512);
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// ad7124_test_taskHandle = osThreadCreate(osThread(ad7124_test_task), NULL);
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/* HART测试任务 */
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osThreadDef(usart6_test_task, start_usart6_test_task, osPriorityNormal, 0, 128);
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usart6_test_taskHandle = osThreadCreate(osThread(usart6_test_task), NULL);
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/* TCA6416任务 */
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//osThreadDef(tca6416_task, start_tca6416_task, osPriorityNormal, 0, 128);
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// tca6416_taskHandle = osThreadCreate(osThread(tca6416_task), NULL);
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/* TCA6416测试任务 */
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osThreadDef(tca6416_task, test_tca6416_task, osPriorityNormal, 0, 128);
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tca6416_taskHandle = osThreadCreate(osThread(tca6416_task), NULL);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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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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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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/* 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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if (((phyreg >> 2) & 0x1) != 0x1)
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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); // 热插拔下线时调用
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if (tcp_echo_flags_hart1 == 1)
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{
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tcp_abort(server_pcb_hart1); // 热插拔下线时调用
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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); // 热插拔下线时调用
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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); // 热插拔下线时调用
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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); // 热插拔下线时调用
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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); // 热插拔下线时调用
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tcp_echo_flags_control = 0;
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}
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}
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else
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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); // 热插拔上线时调用
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// if (tcp_echo_flags_ble1 == 2)
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// {
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// tcp_echo_init(); // 热插拔上线时调用
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// // uart_lcd_draw_ipaddr(); // 初始化显示IP地址信息
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// tcp_echo_flags_ble1 = 0;
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// }
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}
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vTaskDelay(1000);
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// osThreadTerminate(NULL);
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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_dac_task */
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/**
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* @brief Function implementing the dac_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_dac_task */
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void start_dac_task(void const *argument)
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{
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/* USER CODE BEGIN start_dac_task */
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dac161s997_init();
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/* Infinite loop */
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for (;;)
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{
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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????????
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dac161s997_output(DAC161S997_1, current_buff[0]);
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dac161s997_output(DAC161S997_2, current_buff[1]);
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osThreadResume(adc_taskHandle);
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vTaskDelay(100);
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}
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/* USER CODE END start_dac_task */
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}
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/* USER CODE BEGIN Header_start_adc_task */
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/**
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* @brief ADC任务函数实现
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* @param argument: 未使用
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* @retval None
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*/
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/* USER CODE END Header_start_adc_task */
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void start_adc_task(void const *argument)
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{
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/* USER CODE BEGIN start_adc_task */
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ad7124_setup();
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/* Infinite loop */
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for (;;)
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{
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uint8_t ch = 0;
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for (ch = AD7124_AIN0; ch < AD7124_CHANNEL_EN_MAX; ch++)
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{
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ad7124_get_analog(ch);
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}
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vTaskDelay(10);
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}
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/* USER CODE END start_adc_task */
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}
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/* USER CODE BEGIN Header_start_gpio_di_do_task */
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/**
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* @brief Function implementing the gpio_di_do_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_gpio_di_do_task */
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void start_gpio_di_do_task(void const *argument)
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{
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/* USER CODE BEGIN start_gpio_di_do_task */
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/* Infinite loop */
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for (;;)
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{
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user_gpio_trigger();
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vTaskDelay(100);
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}
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/* USER CODE END start_gpio_di_do_task */
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}
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/* USER CODE BEGIN Header_start_ec11_task */
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/**
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* @brief Function implementing the ec11_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_ec11_task */
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void start_ec11_task(void const *argument)
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{
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/* USER CODE BEGIN start_ec11_task */
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/* Infinite loop */
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for (;;)
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{
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linear_encoder_get_data();
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uart_lcd_ec11_control_current();
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uart_forwarding_tcp();
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vTaskDelay(10);
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}
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/* USER CODE END start_ec11_task */
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}
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/**
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* @brief Initialize AD7124 with multiple channels
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* @param sample_rate: Sample rate selection (2Hz to 1kHz)
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* @retval None
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*/
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/* USER CODE END Application */
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/**
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* @brief 测试CS引脚的功能
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*
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* 这个函数将不断地尝试拉低和拉高CS引脚，并读取其状态。
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* 它主要用于测试硬件连接和引脚操作的正确性。
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*
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* @return 无返回值
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*/
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void test_cs_pin(void)
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{
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while (1) {
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ad7124_cs_on(); // 尝试拉低
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GPIO_PinState state = HAL_GPIO_ReadPin(SPI2_CS_GPIO_Port, SPI2_CS_Pin);
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// 打印或观察state值，应该是GPIO_PIN_RESET
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HAL_Delay(100);
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ad7124_cs_off(); // 尝试拉高
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state = HAL_GPIO_ReadPin(SPI2_CS_GPIO_Port, SPI2_CS_Pin);
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// 打印或观察state值，应该是GPIO_PIN_SET
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HAL_Delay(100);
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}
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}
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/* USER CODE BEGIN Header_start_usart6_test_task */
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/**
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* @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)
|
||
{
|
||
|
||
}
|
||
|
||
/* USER CODE BEGIN Header_start_tca6416_task */
|
||
/**
|
||
* @brief Function implementing the tca6416_task thread.
|
||
* @param argument: Not used
|
||
* @retval None
|
||
*/
|
||
/* USER CODE END Header_start_tca6416_task */
|
||
void start_tca6416_task(void const *argument)
|
||
{
|
||
/* USER CODE BEGIN start_tca6416_task */
|
||
uint8_t port0_data, port1_data;
|
||
|
||
// 初始化第一个TCA6416
|
||
if(TCA6416_Init() != 0)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
|
||
// 初始化第二个TCA6416
|
||
if(TCA6416_Init2() != 0)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
|
||
// 设置两个芯片的所有端口为输入
|
||
if(TCA6416_SetPortDirection(0, 0xFF) != 0) Error_Handler();
|
||
if(TCA6416_SetPortDirection(1, 0xFF) != 0) Error_Handler();
|
||
if(TCA6416_SetPortDirection2(0, 0xFF) != 0) Error_Handler();
|
||
if(TCA6416_SetPortDirection2(1, 0xFF) != 0) Error_Handler();
|
||
|
||
for(;;)
|
||
{
|
||
// 读取第一个芯片的输入状态
|
||
if(TCA6416_ReadPort(0, &port0_data) == 0)
|
||
{
|
||
tca6416_port0_status = port0_data;
|
||
}
|
||
if(TCA6416_ReadPort(1, &port1_data) == 0)
|
||
{
|
||
tca6416_port1_status = port1_data;
|
||
}
|
||
|
||
// 读取第二个芯片的输入状态
|
||
if(TCA6416_ReadPort2(0, &port0_data) == 0)
|
||
{
|
||
tca6416_port2_status = port0_data;
|
||
}
|
||
if(TCA6416_ReadPort2(1, &port1_data) == 0)
|
||
{
|
||
tca6416_port3_status = port1_data;
|
||
}
|
||
|
||
osDelay(100); // 100ms读取一次
|
||
}
|
||
/* USER CODE END start_tca6416_task */
|
||
}
|
||
|
||
void test_tca6416_task(void const *argument)
|
||
{
|
||
/* USER CODE BEGIN test_tca6416_task */
|
||
uint8_t ret = 0;
|
||
uint8_t test_patterns[] = {0x00, 0xFF, 0xAA, 0x55, 0x0F, 0xF0, 0x5A, 0xA5};
|
||
uint8_t pattern_index = 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TCA6416
|
||
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);
|
||
}
|
||
}
|
||
|
||
// 初始化成功，继续测试
|
||
osDelay(50);
|
||
|
||
for(;;)
|
||
{
|
||
// 步骤2: 设置Port0为输出，Port1为输入
|
||
tca6416_test_step = 2;
|
||
tca6416_port0_dir = 0x00; // 0=输出
|
||
tca6416_port1_dir = 0xFF; // 1=输入
|
||
|
||
ret = TCA6416_SetPortDirection(0, tca6416_port0_dir);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(10);
|
||
|
||
ret = TCA6416_SetPortDirection(1, tca6416_port1_dir);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(10);
|
||
|
||
// 步骤3: 写入测试模式到Port0
|
||
tca6416_test_step = 3;
|
||
tca6416_test_pattern = test_patterns[pattern_index];
|
||
tca6416_write_data = tca6416_test_pattern;
|
||
|
||
ret = TCA6416_WritePort(0, tca6416_write_data);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(10);
|
||
|
||
// 步骤4: 读取Port0的值（验证写入）
|
||
tca6416_test_step = 4;
|
||
ret = TCA6416_ReadPort(0, &tca6416_read_data);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
else
|
||
{
|
||
// 更新状态变量
|
||
tca6416_port0_status = tca6416_read_data;
|
||
}
|
||
osDelay(10);
|
||
|
||
// 步骤5: 读取Port1的输入状态
|
||
tca6416_test_step = 5;
|
||
ret = TCA6416_ReadPort(1, &tca6416_read_data);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
else
|
||
{
|
||
// 更新状态变量
|
||
tca6416_port1_status = tca6416_read_data;
|
||
}
|
||
osDelay(10);
|
||
|
||
// 步骤6: 测试单个引脚操作
|
||
tca6416_test_step = 6;
|
||
for(uint8_t pin = 0; pin < 8; pin++)
|
||
{
|
||
// 设置单个引脚为高
|
||
ret = TCA6416_WritePin(0, pin, 1);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(5);
|
||
|
||
// 读取验证
|
||
uint8_t pin_state = 0;
|
||
ret = TCA6416_ReadPin(0, pin, &pin_state);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(5);
|
||
|
||
// 设置单个引脚为低
|
||
ret = TCA6416_WritePin(0, pin, 0);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(5);
|
||
}
|
||
|
||
// 步骤7: 测试极性反转功能
|
||
tca6416_test_step = 7;
|
||
ret = TCA6416_SetPortPolarity(0, 0xFF); // 反转所有位
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(10);
|
||
|
||
// 读取并验证极性反转效果
|
||
ret = TCA6416_ReadPort(0, &tca6416_read_data);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(10);
|
||
|
||
// 恢复正常极性
|
||
ret = TCA6416_SetPortPolarity(0, 0x00);
|
||
if(ret != 0)
|
||
{
|
||
tca6416_error_count++;
|
||
tca6416_i2c_ack_status = ret;
|
||
}
|
||
osDelay(10);
|
||
|
||
// 切换到下一个测试模式
|
||
pattern_index = (pattern_index + 1) % (sizeof(test_patterns) / sizeof(test_patterns[0]));
|
||
|
||
// 延时后继续下一轮测试
|
||
osDelay(500);
|
||
}
|
||
/* USER CODE END test_tca6416_task */
|
||
} |