/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2026 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "usb_device.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* uC/OS-II的公开接口、任务类型和配置宏都由此头文件提供。 */ #include "ucos_ii.h" #include "modbus_rtu_slave.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ UART_HandleTypeDef huart1; DMA_HandleTypeDef hdma_usart1_rx; DMA_HandleTypeDef hdma_usart1_tx; /* USER CODE BEGIN PV */ /* * 每个任务必须拥有独立栈空间。 * OS_STK在本工程中为32位，因此256个OS_STK占用1024字节RAM。 * Cortex-M栈从高地址向低地址增长，创建任务时要把数组末元素作为栈顶传入。 */ static OS_STK AppTaskStartStk[APP_TASK_START_STK_SIZE]; /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_DMA_Init(void); static void MX_USART1_UART_Init(void); /* USER CODE BEGIN PFP */ static void AppTaskStart(void *p_arg); /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* * uC/OS-II任务函数的固定形式是 void Task(void *p_arg)。 * 任务通常包含一个永久循环；需要等待时应调用OS延时或等待内核对象， * 让出CPU给其他就绪任务，而不是在任务里忙等待。 */ static void AppTaskStart(void *p_arg) { /* 当前没有给任务传递参数，显式转换可避免编译器产生未使用警告。 */ (void)p_arg; /* * F4作为Modbus RTU从站，触摸屏作为主站。 * 初始化函数会立即启动USART1的DMA空闲接收。 */ if (ModbusSlave_Init(&huart1, MODBUS_SLAVE_DEFAULT_ADDRESS) != HAL_OK) { Error_Handler(); } while (1) { /* * 维护几个供触摸屏首次联调读取的保持寄存器： * 4x地址0：器件标识0xF407； * 4x地址1：系统运行秒数； * 4x地址2：收到的有效Modbus帧数； * 4x地址10：触摸屏读写测试值，由协议层保存。 */ (void)ModbusSlave_SetHoldingRegister( HMI_REG_UPTIME_SECONDS, (uint16_t)(OSTimeGet() / OS_TICKS_PER_SEC)); (void)ModbusSlave_SetHoldingRegister( HMI_REG_RX_FRAME_COUNT, (uint16_t)g_modbus_slave_stats.valid_frame_count); /* * 协议解析和应答在任务上下文完成，中断只接收一帧并设置标志。 * 每1ms轮询一次，不在串口中断中执行耗时的CRC和寄存器操作。 */ ModbusSlave_Poll(); OSTimeDly(1U); } } /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_DMA_Init(); MX_USB_DEVICE_Init(); MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ /* uC/OS-II接口通常用返回错误码的方式报告执行结果。 */ INT8U os_err; /* * 初始化内核的任务表、就绪表、事件控制块等内部数据。 * OSInit()只完成初始化，此时任务调度尚未开始。 */ OSInit(); /* * 创建应用启动任务，各参数依次为： * 1. 任务入口函数； * 2. 传给任务的参数（当前不需要，所以为0）； * 3. 初始栈顶地址； * 4. 任务优先级，数值越小优先级越高； * 5. 任务ID，本工程暂时与优先级取相同值； * 6. 栈底地址； * 7. 栈容量，单位是OS_STK元素而不是字节； * 8. 用户扩展指针（当前不用）； * 9. 创建选项：允许栈检查并在创建时清零任务栈。 */ os_err = OSTaskCreateExt(AppTaskStart, 0, &AppTaskStartStk[APP_TASK_START_STK_SIZE - 1u], APP_TASK_START_PRIO, APP_TASK_START_PRIO, &AppTaskStartStk[0], APP_TASK_START_STK_SIZE, 0, (OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR)); if (os_err != OS_ERR_NONE) { Error_Handler(); } /* * 启动抢占式调度，内核会运行当前最高优先级的就绪任务。 * OSStart()成功后不会返回，后面的裸机while循环不会再被执行。 */ OSStart(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* 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 = 12; 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(); } /** Enables the Clock Security System */ HAL_RCC_EnableCSS(); } /** * @brief USART1 Initialization Function * @param None * @retval None */ static void MX_USART1_UART_Init(void) { /* USER CODE BEGIN USART1_Init 0 */ /* USER CODE END USART1_Init 0 */ /* USER CODE BEGIN USART1_Init 1 */ /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_9B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_EVEN; huart1.Init.Mode = UART_MODE_TX_RX; huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart1.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART1_Init 2 */ /* USER CODE END USART1_Init 2 */ } /** * Enable DMA controller clock */ static void MX_DMA_Init(void) { /* DMA controller clock enable */ __HAL_RCC_DMA2_CLK_ENABLE(); /* DMA interrupt init */ /* DMA2_Stream2_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn); /* DMA2_Stream7_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn); } /** * @brief GPIO Initialization Function * @param None * @retval None */ static void MX_GPIO_Init(void) { /* USER CODE BEGIN MX_GPIO_Init_1 */ /* USER CODE END MX_GPIO_Init_1 */ /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); /* USER CODE BEGIN MX_GPIO_Init_2 */ /* USER CODE END MX_GPIO_Init_2 */ } /* USER CODE BEGIN 4 */ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) { /* 应答发送完成后，协议模块重新启动DMA接收。 */ ModbusSlave_OnTxComplete(huart); } } void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) { if (huart->Instance == USART1) { /* * DMA遇到串口空闲事件后进入这里。 * 仅复制帧并重启DMA，协议解析由AppTaskStart任务完成。 */ ModbusSlave_OnRxEvent(huart, Size); } } void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) { /* 溢出、噪声、帧错误等异常后恢复USART1 DMA接收。 */ ModbusSlave_OnUartError(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 */ __disable_irq(); while (1) { } /* 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 */