zhoujie
fee2e96eaa
- 新增VSCode编辑器配置，启用保存时自动格式化 - 新增DMA2_Stream5和USART1中断处理函数，优化SPI传输性能 - 移除TIM1相关配置和性能监控模块，简化系统架构 - 优化GPIO配置，将ADC_SYNC和PA8引脚合并配置 - 简化系统监控模块，仅保留采样计数和数据溢出统计 - 优化SPI配置，使用16位数据宽度并提高DMA优先级 - 提高USART波特率（USART1:2Mbps, USART3:921600bps） - 优化LTC2508驱动，增加初始化状态检查和缓冲区大小 - 修正数据存储模块，使用校正数据包而非校正结果结构体 - 优化RS485驱动，使用中断传输并添加传输完成回调 - 更新IOC配置文件，移除TIM1并调整中断优先级配置 - 新增系统监控简化说明文档，详细记录架构变更
706 lines
19 KiB
C
706 lines
19 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file : main.c
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* @brief : Main program body
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 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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* If no LICENSE file comes with this software, it is provided AS-IS.
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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 "main.h"
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#include "dma.h"
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#include "fatfs.h"
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#include "sdio.h"
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#include "spi.h"
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#include "tim.h"
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#include "usart.h"
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#include "usb_device.h"
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#include "gpio.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "ltc2508_driver.h"
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#include "rs485_driver.h"
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#include "data_packet.h"
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#include "correction.h"
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#include "data_storage.h"
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#include "system_monitor.h"
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#include <stdio.h>
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#include <string.h>
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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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// 串口输出控制开关
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#define ENABLE_UART_DEBUG_OUTPUT 1
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#define DEBUG_OUTPUT_INTERVAL_MS 1000 // 调试输出间隔(毫秒)
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// 监控功能宏开关
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#define ENABLE_SYSTEM_MONITOR 1 // 系统监控开关
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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 PV */
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// 外部SPI句柄声明
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extern SPI_HandleTypeDef hspi1;
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extern SPI_HandleTypeDef hspi2;
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extern SPI_HandleTypeDef hspi3;
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extern TIM_HandleTypeDef htim2;
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extern UART_HandleTypeDef huart1;
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extern UART_HandleTypeDef huart3;
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// 校正参数
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CorrectionParams_t g_correction_params;
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// 数据包
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DataPacket_t g_data_packet;
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CorrectedDataPacket_t g_corrected_packet;
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// 数据存储句柄
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DataStorageHandle_t g_data_storage;
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// 系统状态
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static uint8_t g_recording_enabled = 0;
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// USB连接状态管理
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static uint8_t g_usb_connected = 0;
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static uint8_t g_fatfs_mounted_for_sampling = 0;
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static uint32_t g_last_usb_check = 0;
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// 性能监控和调试输出
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static uint32_t g_last_debug_output = 0;
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static uint8_t g_debug_output_enabled = ENABLE_UART_DEBUG_OUTPUT;
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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void SystemClock_Config(void);
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/* USER CODE BEGIN PFP */
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static void StartRecording(void);
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static void StopRecording(void);
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static void ProcessAdcData(void);
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// USB连接状态管理函数
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static uint8_t CheckUSBConnectionStatus(void);
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static void HandleUSBConnectionChange(void);
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static HAL_StatusTypeDef MountFileSystemForSampling(void);
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static void UnmountFileSystemForSampling(void);
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static void DebugOutput_Init(void);
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static void DebugOutput_SendString(const char* str);
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static void DebugOutput_PrintSystemStats(void);
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/* USER CODE END PFP */
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/* Private user code ---------------------------------------------------------*/
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/* USER CODE BEGIN 0 */
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/**
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* @brief 开始数据记录
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* @retval None
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*/
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static void StartRecording(void)
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{
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if (!g_recording_enabled) {
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if (DataStorage_StartRecording(&g_data_storage) == HAL_OK) {
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g_recording_enabled = 1;
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}
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}
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}
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/**
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* @brief 停止数据记录
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* @retval None
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*/
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static void StopRecording(void)
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{
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if (g_recording_enabled) {
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g_recording_enabled = 0;
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DataStorage_StopRecording(&g_data_storage);
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}
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}
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/**
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* @brief 处理ADC数据
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* @retval None
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*/
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static void ProcessAdcData(void)
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{
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// 检查ADC数据是否准备就绪
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LTC2508_BufferTypeDef *ready_buffer = NULL;
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if (LTC2508_GetReadyBuffer(&ready_buffer) == LTC2508_OK && ready_buffer != NULL)
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{
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#if ENABLE_SYSTEM_MONITOR
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SystemMonitor_IncrementSampleCount();
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#endif
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// 1. 从双缓冲区获取数据并合并 (高位16位在前)
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int32_t raw_adc[NUM_LTC2508];
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for (uint8_t i = 0; i < NUM_LTC2508; i++) {
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raw_adc[i] = (int32_t)(((uint32_t)ready_buffer->data[i][0] << 16) | ready_buffer->data[i][1]);
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}
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// 3. 应用校正算法
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CorrectionResult_t correction_result;
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uint8_t correction_applied = 0;
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if (g_correction_params.params_valid &&
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Apply_Correction(raw_adc[0], raw_adc[1], raw_adc[2],
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&correction_result, &g_correction_params) == HAL_OK) {
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// 4a. 打包校正后的数据
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PackCorrectedData(&g_corrected_packet,
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correction_result.corrected_x,
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correction_result.corrected_y,
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correction_result.corrected_z);
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correction_applied = 1;
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// 发送校正后的数据包
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RS485_SendData((uint8_t*)&g_corrected_packet, sizeof(CorrectedDataPacket_t));
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} else {
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// 4b. 校正失败或未启用，使用原始数据
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PackData(&g_data_packet, raw_adc[0], raw_adc[1], raw_adc[2]);
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// 发送原始数据包
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RS485_SendData((uint8_t*)&g_data_packet, sizeof(DataPacket_t));
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}
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// 6. 存储数据到SD卡 (如果启用记录)
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if (g_recording_enabled) {
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if (correction_applied) {
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// 存储校正后的数据
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DataStorage_WriteCorrectedData(&g_data_storage, &g_corrected_packet);
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} else {
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// 存储原始数据
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DataStorage_WriteData(&g_data_storage, &g_data_packet);
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}
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}
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// 7. 释放已处理的缓冲区
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LTC2508_ReleaseBuffer(LTC2508_GetCurrentReadBuffer());
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} else {
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// 数据来不及处理
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#if ENABLE_SYSTEM_MONITOR
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SystemMonitor_ReportDataOverflow();
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#endif
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}
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}
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/**
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* @brief 初始化调试输出
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* @retval None
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*/
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static void DebugOutput_Init(void)
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{
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// USART3已在MX_USART3_UART_Init()中初始化
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if (g_debug_output_enabled) {
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DebugOutput_SendString("\r\n=== System Debug Output Initialized ===\r\n");
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}
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}
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/**
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* @brief 通过USART3发送字符串
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* @param str: 要发送的字符串
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* @retval None
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*/
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static void DebugOutput_SendString(const char* str)
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{
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if (!g_debug_output_enabled || str == NULL) {
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return;
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}
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HAL_UART_Transmit(&huart3, (uint8_t*)str, strlen(str), 100);
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}
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/**
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* @brief 输出系统监控统计信息
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* @retval None
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*/
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static void DebugOutput_PrintSystemStats(void)
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{
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#if ENABLE_SYSTEM_MONITOR
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if (!g_debug_output_enabled) {
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return;
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}
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char buffer[128];
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SystemMonitorStats_t sys_stats;
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SystemMonitor_GetStats(&sys_stats);
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snprintf(buffer, sizeof(buffer),
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"\r\n=== System Stats ===\r\n"
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"Total Samples: %lu\r\n"
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"Data Overflow: %lu\r\n",
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sys_stats.total_samples,
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sys_stats.data_overflow_count);
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DebugOutput_SendString(buffer);
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#endif
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}
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/**
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* @brief 检查USB连接状态
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* @retval 1: USB已连接, 0: USB未连接
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*/
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static uint8_t CheckUSBConnectionStatus(void)
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{
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// 通过检查USB设备状态来判断是否连接到PC
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extern USBD_HandleTypeDef hUsbDeviceFS;
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// 检查USB设备是否已配置（枚举完成）
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if (hUsbDeviceFS.dev_state == USBD_STATE_CONFIGURED) {
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return 1; // USB已连接并配置
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}
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return 0; // USB未连接或未配置
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}
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/**
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* @brief 处理USB连接状态变化
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* @retval None
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*/
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static void HandleUSBConnectionChange(void)
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{
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uint8_t current_usb_status = CheckUSBConnectionStatus();
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if (current_usb_status != g_usb_connected) {
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g_usb_connected = current_usb_status;
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if (g_usb_connected) {
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// USB连接：停止数据采集，卸载文件系统用于USB存储
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DebugOutput_SendString("USB Connected: Stopping data acquisition\r\n");
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// 停止数据记录
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StopRecording();
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// 卸载用于采样的文件系统
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UnmountFileSystemForSampling();
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} else {
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// USB断开：重新挂载文件系统，开始数据采集
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DebugOutput_SendString("USB Disconnected: Starting data acquisition\r\n");
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// 挂载文件系统用于数据采集
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if (MountFileSystemForSampling() == HAL_OK) {
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// 重新初始化数据存储
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if (DataStorage_Init(&g_data_storage) == HAL_OK) {
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StartRecording();
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}
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}
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}
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}
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}
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/**
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* @brief 为数据采集挂载文件系统
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* @retval HAL_OK: 成功, HAL_ERROR: 失败
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*/
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static HAL_StatusTypeDef MountFileSystemForSampling(void)
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{
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extern FATFS SDFatFS;
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extern char SDPath[4];
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extern SD_HandleTypeDef hsd;
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if (g_fatfs_mounted_for_sampling) {
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return HAL_OK; // 已经挂载
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}
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// 初始化SD卡
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if (HAL_SD_Init(&hsd) != HAL_OK) {
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DebugOutput_SendString("SD card init failed\r\n");
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return HAL_ERROR;
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}
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// FRESULT format_result = f_mkfs(SDPath, FM_FAT32, 0, NULL, 0);
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// 尝试挂载文件系统
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FRESULT mount_result = f_mount(&SDFatFS, SDPath, 1);
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if (mount_result != FR_OK) {
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if (mount_result == FR_NO_FILESYSTEM)
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{
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DebugOutput_SendString("No filesystem found, formatting...\r\n");
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// 格式化为FAT32
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FRESULT format_result = f_mkfs(SDPath, FM_FAT32, 0, NULL, 0);
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if (format_result == FR_OK) {
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DebugOutput_SendString("Format successful, remounting...\r\n");
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mount_result = f_mount(&SDFatFS, SDPath, 1);
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if (mount_result != FR_OK) {
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DebugOutput_SendString("Remount after format failed\r\n");
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return HAL_ERROR;
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}
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} else {
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DebugOutput_SendString("Format failed\r\n");
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return HAL_ERROR;
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}
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} else {
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DebugOutput_SendString("Mount failed with other error\r\n");
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return HAL_ERROR;
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}
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}
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g_fatfs_mounted_for_sampling = 1;
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DebugOutput_SendString("Filesystem mounted for sampling\r\n");
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return HAL_OK;
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}
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/**
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* @brief 卸载用于数据采集的文件系统
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* @retval None
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*/
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static void UnmountFileSystemForSampling(void)
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{
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extern FATFS SDFatFS;
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extern char SDPath[4];
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if (!g_fatfs_mounted_for_sampling) {
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return; // 已经卸载
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}
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// 卸载文件系统
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f_mount(NULL, SDPath, 0);
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g_fatfs_mounted_for_sampling = 0;
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DebugOutput_SendString("Filesystem unmounted for USB mode\r\n");
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}
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/* USER CODE END 0 */
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/**
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* @brief The application entry point.
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* @retval int
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*/
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int main(void)
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{
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/* USER CODE BEGIN 1 */
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
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HAL_Init();
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* Configure the system clock */
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SystemClock_Config();
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/* USER CODE BEGIN SysInit */
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HAL_Delay(200);
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/* USER CODE END SysInit */
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/* Initialize all configured peripherals */
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MX_GPIO_Init();
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MX_DMA_Init();
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MX_SDIO_SD_Init();
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MX_SPI1_Init();
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MX_SPI2_Init();
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MX_SPI3_Init();
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MX_USART1_UART_Init();
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MX_FATFS_Init();
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MX_USB_DEVICE_Init();
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MX_USART3_UART_Init();
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MX_TIM2_Init();
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/* USER CODE BEGIN 2 */
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// SD_NAND_Init_And_Mount();
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// SD_Test_Write();
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// SD_Test_Read();
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// 初始化系统监控
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#if ENABLE_SYSTEM_MONITOR
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SystemMonitor_Init();
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#endif
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// 初始化调试输出
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DebugOutput_Init();
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// 初始化RS485通信
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RS485_Init(&huart1, RS485_DE_RE_PORT, RS485_DE_RE_PIN);
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// 初始化校正参数
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Init_CorrectionParams(&g_correction_params);
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Load_CorrectionParams_FromFlash(&g_correction_params);
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// 检查初始USB连接状态并相应初始化
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HAL_Delay(2000);
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g_usb_connected = CheckUSBConnectionStatus();
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if (!g_usb_connected) {
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// USB未连接，挂载文件系统用于数据采集
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if (MountFileSystemForSampling() == HAL_OK) {
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// 初始化数据存储
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if (DataStorage_Init(&g_data_storage) == HAL_OK) {
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// 开始数据记录
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StartRecording();
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}
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}
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} else {
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// USB已连接，不进行数据采集
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DebugOutput_SendString("USB connected at startup - data acquisition disabled\r\n");
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while(1)
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{
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;
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}
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}
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// 启动TIM2定时器用于1ms周期的ADC数据处理
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if (HAL_TIM_Base_Start_IT(&htim2) != HAL_OK) {
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Error_Handler();
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}
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// 初始化LTC2508驱动
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if (LTC2508_Init(&hspi1, &hspi2, &hspi3) != LTC2508_OK) {
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Error_Handler();
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}
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// 触发信号引脚初始化
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_SET);
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HAL_GPIO_WritePin(GPIOA, GPIO_PIN_2, GPIO_PIN_RESET);
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1)
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{
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/* USER CODE END WHILE */
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/* USER CODE BEGIN 3 */
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// 定期任务
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uint32_t current_tick = HAL_GetTick();
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// USB连接状态检测 (每500ms检测一次)
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if (current_tick - g_last_usb_check >= 500) {
|
||
HandleUSBConnectionChange();
|
||
g_last_usb_check = current_tick;
|
||
}
|
||
|
||
// 处理数据存储后台任务 (轮询方式)
|
||
if (g_recording_enabled) {
|
||
DataStorage_ProcessBackgroundTasks(&g_data_storage);
|
||
}
|
||
|
||
// 定期输出调试信息 (每1秒输出一次)
|
||
if (g_debug_output_enabled && (current_tick - g_last_debug_output >= DEBUG_OUTPUT_INTERVAL_MS)) {
|
||
DebugOutput_PrintSystemStats();
|
||
g_last_debug_output = current_tick;
|
||
}
|
||
|
||
// ADC采样由PA1外部中断触发，不在主循环中触发
|
||
// 可以在这里添加其他低优先级任务
|
||
}
|
||
|
||
// 停止数据记录
|
||
StopRecording();
|
||
|
||
/* USER CODE END 3 */
|
||
}
|
||
|
||
/**
|
||
* @brief System Clock Configuration
|
||
* @retval None
|
||
*/
|
||
void SystemClock_Config(void)
|
||
{
|
||
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
|
||
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
|
||
|
||
/** Configure the main internal regulator output voltage
|
||
*/
|
||
__HAL_RCC_PWR_CLK_ENABLE();
|
||
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
|
||
|
||
/** Initializes the RCC Oscillators according to the specified parameters
|
||
* in the RCC_OscInitTypeDef structure.
|
||
*/
|
||
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
|
||
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
|
||
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
|
||
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
|
||
RCC_OscInitStruct.PLL.PLLM = 25;
|
||
RCC_OscInitStruct.PLL.PLLN = 336;
|
||
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
|
||
RCC_OscInitStruct.PLL.PLLQ = 7;
|
||
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
|
||
/** Initializes the CPU, AHB and APB buses clocks
|
||
*/
|
||
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|
||
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
|
||
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
|
||
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
|
||
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
|
||
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
|
||
|
||
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
|
||
{
|
||
Error_Handler();
|
||
}
|
||
}
|
||
|
||
/* USER CODE BEGIN 4 */
|
||
|
||
/**
|
||
* @brief 外部中断回调函数 - ADC数据就绪信号
|
||
* @param GPIO_Pin: 触发中断的GPIO引脚
|
||
* @retval None
|
||
*/
|
||
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
|
||
{
|
||
static uint32_t cnt = 0;
|
||
if(LTC2508_IsInited() == 0) return;
|
||
|
||
cnt ++;
|
||
// if(cnt % 5 == 0)
|
||
{
|
||
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET);
|
||
if (GPIO_Pin == ADC_DRY_Pin) {
|
||
// ADC数据就绪，触发DMA读取
|
||
LTC2508_TriggerDmaRead();
|
||
}
|
||
// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief SPI DMA传输完成回调函数
|
||
* @param hspi: SPI句柄指针
|
||
* @retval None
|
||
*/
|
||
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
|
||
{
|
||
// 调用LTC2508驱动的DMA完成回调
|
||
LTC2508_DmaComplete_Callback(hspi);
|
||
}
|
||
|
||
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
|
||
{
|
||
// 调用LTC2508驱动的DMA完成回调
|
||
LTC2508_DmaComplete_Callback(hspi);
|
||
}
|
||
|
||
/**
|
||
* @brief SPI错误回调函数
|
||
* @param hspi: SPI句柄指针
|
||
* @retval None
|
||
*/
|
||
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi)
|
||
{
|
||
// 调用LTC2508驱动的错误回调
|
||
LTC2508_ErrorCallback(hspi);
|
||
}
|
||
|
||
/**
|
||
* @brief TIM2回调函数 - 1ms定时器中断处理ADC数据
|
||
* @param htim: TIM句柄指针
|
||
* @retval None
|
||
*/
|
||
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
|
||
{
|
||
if (htim->Instance == TIM2) {
|
||
// ADC是4KHz采样率，定时器是1KHz，需要在每次1ms中断中处理多个ADC数据
|
||
// 循环处理所有可用的ADC数据，直到没有新数据为止
|
||
uint8_t processed_count = 0;
|
||
const uint8_t max_process_per_interrupt = 8; // 限制每次中断最多处理的数据量，避免中断时间过长
|
||
|
||
while (processed_count < max_process_per_interrupt) {
|
||
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET);
|
||
ProcessAdcData();
|
||
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
|
||
processed_count++;
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief UART传输完成回调函数
|
||
* @param huart: UART句柄指针
|
||
* @retval None
|
||
*/
|
||
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
|
||
{
|
||
if (huart == &huart1) {
|
||
// RS485传输完成回调
|
||
RS485_TxCpltCallback(huart);
|
||
}
|
||
}
|
||
|
||
/* USER CODE END 4 */
|
||
|
||
/**
|
||
* @brief This function is executed in case of error occurrence.
|
||
* @retval None
|
||
*/
|
||
void Error_Handler(void)
|
||
{
|
||
/* USER CODE BEGIN Error_Handler_Debug */
|
||
/* User can add his own implementation to report the HAL error return state */
|
||
|
||
// 停止所有DMA传输
|
||
HAL_SPI_DMAStop(&hspi1);
|
||
HAL_SPI_DMAStop(&hspi2);
|
||
HAL_SPI_DMAStop(&hspi3);
|
||
|
||
// 停止数据记录
|
||
g_recording_enabled = 0;
|
||
DataStorage_StopRecording(&g_data_storage);
|
||
|
||
// 禁用中断并进入无限循环
|
||
__disable_irq();
|
||
while (1)
|
||
{
|
||
// 可以在这里添加LED指示或其他错误指示
|
||
HAL_Delay(500);
|
||
}
|
||
/* USER CODE END Error_Handler_Debug */
|
||
}
|
||
#ifdef USE_FULL_ASSERT
|
||
/**
|
||
* @brief Reports the name of the source file and the source line number
|
||
* where the assert_param error has occurred.
|
||
* @param file: pointer to the source file name
|
||
* @param line: assert_param error line source number
|
||
* @retval None
|
||
*/
|
||
void assert_failed(uint8_t *file, uint32_t line)
|
||
{
|
||
/* USER CODE BEGIN 6 */
|
||
/* User can add his own implementation to report the file name and line number,
|
||
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
|
||
/* USER CODE END 6 */
|
||
}
|
||
#endif /* USE_FULL_ASSERT */
|