MOUDBUS/Core/Src/main.c

/* 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 */