Modbus-rtu/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 */
#include "ucos_ii.h"
#include "modbus_rtu_slave.h"
#include "plc_device.h"
#include "plsr_core.h"
#include "plsr_self_test.h"
#include "stdio.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;
static volatile uint8_t ConnectFlag;
/* USER CODE BEGIN PV */

static OS_STK AppTaskStartStk[APP_TASK_START_STK_SIZE];
static OS_STK PlsrTaskStk[APP_TASK_PLSR_STK_SIZE];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static HAL_StatusTypeDef BackupSramInit(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 *pArg);

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

static void AppTaskStart(void *pArg)
{

    (void)pArg;

    /*
     * 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
     */
    (void)ModbusSlaveInit(&huart1, MODBUS_SLAVE_DEFAULT_ADDRESS);
    //ModbusRetainedRegistersLoad();
    while (1)
    {
        /*
         * 维护几个供触摸屏首次联调读取的保持寄存器：
         */
        
        // (void)ModbusSlaveSetHoldingRegister( // OS时钟
        //     HMI_REG_UPTIME_SECONDS, (uint16_t)(OSTimeGet() / OS_TICKS_PER_SEC));
        // (void)ModbusSlaveSetHoldingRegister( // 有效帧计数
        //     HMI_REG_RX_FRAME_COUNT,
        //     (uint16_t)ModbusSlaveStatistics.validFrameCount);

        // (void)ModbusSlaveSetHoldingRegister( // 从站地址不匹配计数
        //     D3, (uint16_t)ModbusSlaveStatistics.ignoredAddressCount);
        // (void)ModbusSlaveSetHoldingRegister( // 非法功能码计数
        //     D4, (uint16_t)ModbusSlaveStatistics.illegalFunctionCount);

        // (void)ModbusSlaveSetHoldingRegister( // 非法地址计数
        //     D5, (uint16_t)ModbusSlaveStatistics.illegalAddressCount);

        // (void)ModbusSlaveSetHoldingRegister( // 非法数据值计数
        //     D6, (uint16_t)ModbusSlaveStatistics.illegalValueCount);

        /*
         * 每1ms轮询一次，
         */
        ModbusSlavePoll();
       // ModbusRetainedRegistersPoll();

        if (ModbusSlaveIsConnected(MODBUS_CONNECTION_TIMEOUT_MS) != 0U)
        {
            /* 主站在线 */
            ConnectFlag = 1;
        }
        else
        {
            /* 主站超时或断开 */
            ConnectFlag = 0;
        }

        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 peripherals and initialize 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();
    if (BackupSramInit() != HAL_OK)
    {
        Error_Handler();
    }
    if (PlcDeviceInit() != PLC_DEVICE_OK)
    {
        Error_Handler();
    }
    if (PlsrInit() != PLSR_RESULT_OK)
    {
        Error_Handler();
    }
    
    /* USER CODE BEGIN 2 */
    INT8U osError;

    OSInit();

    osError = OSTaskCreateExt(PlsrTask, 0,
                             &PlsrTaskStk[APP_TASK_PLSR_STK_SIZE - 1u],
                             APP_TASK_PLSR_PRIO, APP_TASK_PLSR_PRIO,
                             &PlsrTaskStk[0], APP_TASK_PLSR_STK_SIZE, 0,
                             (OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR));

    if (osError != OS_ERR_NONE)
    {
        Error_Handler();
    }

    osError = 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 (osError != OS_ERR_NONE)
    {
        Error_Handler();
    }

    /* 上电自测：延时 1s 后由 Q0/Q1 输出三段 AB 正交周期（验证后关闭）。 */
    HAL_Delay(1000U);
    /* P6 board test: Q0..Q3 run four independent PULSE/DIR jobs. */
    (void)PlsrFourAxisSelfTestQueue();
    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 */
}

static HAL_StatusTypeDef BackupSramInit(void)
{
    HAL_PWR_EnableBkUpAccess();
    __HAL_RCC_BKPSRAM_CLK_ENABLE();

    return HAL_PWREx_EnableBkUpReg();
}

/**
 * @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 = 9600;
    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。 */
        ModbusSlaveOnTxComplete(huart);
    }
}

void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
    if (huart->Instance == USART1)
    {
        ModbusSlaveOnRxEvent(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。 */
        ModbusSlaveOnUartError(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 code to report the file name and line number,
     for example: printf("Wrong parameter: %s:%d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */