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Modbus-rtu/Core/Src/main.c

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  1. /* USER CODE BEGIN Header */

  2. /**

  3.   ******************************************************************************

  4.   * @file           : main.c

  5.   * @brief          : Main program body

  6.   ******************************************************************************

  7.   * @attention

  8.   *

  9.   * Copyright (c) 2026 STMicroelectronics.

  10.   * All rights reserved.

  11.   *

  12.   * This software is licensed under terms that can be found in the LICENSE file

  13.   * in the root directory of this software component.

  14.   * If no LICENSE file comes with this software, it is provided AS-IS.

  15.   *

  16.   ******************************************************************************

  17.   */

  18. /* USER CODE END Header */

  19. /* Includes ------------------------------------------------------------------*/

  20. #include "main.h"

  21. #include "usb_device.h"

  22. 

  23. /* Private includes ----------------------------------------------------------*/

  24. /* USER CODE BEGIN Includes */

  25. #include "ucos_ii.h"

  26. #include "modbus_rtu_slave.h"

  27. /* USER CODE END Includes */

  28. 

  29. /* Private typedef -----------------------------------------------------------*/

  30. /* USER CODE BEGIN PTD */

  31. 

  32. /* USER CODE END PTD */

  33. 

  34. /* Private define ------------------------------------------------------------*/

  35. /* USER CODE BEGIN PD */

  36. 

  37. /* USER CODE END PD */

  38. 

  39. /* Private macro -------------------------------------------------------------*/

  40. /* USER CODE BEGIN PM */

  41. 

  42. /* USER CODE END PM */

  43. 

  44. /* Private variables ---------------------------------------------------------*/

  45. UART_HandleTypeDef huart1;

  46. DMA_HandleTypeDef hdma_usart1_rx;

  47. DMA_HandleTypeDef hdma_usart1_tx;

  48. 

  49. /* USER CODE BEGIN PV */

  50. 

  51. static OS_STK AppTaskStartStk[APP_TASK_START_STK_SIZE];

  52. /* USER CODE END PV */

  53. 

  54. /* Private function prototypes -----------------------------------------------*/

  55. void SystemClock_Config(void);

  56. static HAL_StatusTypeDef BackupSramInit(void);

  57. static void MX_GPIO_Init(void);

  58. static void MX_DMA_Init(void);

  59. static void MX_USART1_UART_Init(void);

  60. /* USER CODE BEGIN PFP */

  61. static void AppTaskStart(void *p_arg);

  62. 

  63. 

  64. 

  65. /* USER CODE END PFP */

  66. 

  67. /* Private user code ---------------------------------------------------------*/

  68. /* USER CODE BEGIN 0 */

  69. 

  70. 

  71. static void AppTaskStart(void *p_arg)

  72. {

  73. 

  74.   (void)p_arg;

  75. 

  76.   /*

  77.    * F4作为Modbus RTU从站，触摸屏作为主站。

  78.    * 初始化函数会立即启动USART1的DMA空闲接收。

  79.    */

  80.   ModbusSlaveInit(&huart1, MODBUS_SLAVE_DEFAULT_ADDRESS);

  81.   ModbusRetainedRegistersLoad();

  82.   while (1)

  83.   {

  84.     /*

  85.      * 维护几个供触摸屏首次联调读取的保持寄存器：

  86.      * 4x地址0：器件标识0xF407；

  87.      * 4x地址1：系统运行秒数；

  88.      * 4x地址2：收到的有效Modbus帧数；

  89.      * 4x地址10：触摸屏读写测试值，由协议层保存。

  90.      */

  91.     (void)ModbusSlaveSetHoldingRegister(//OS时钟

  92.       HMI_REG_UPTIME_SECONDS,

  93.       (uint16_t)(OSTimeGet() / OS_TICKS_PER_SEC));

  94.     (void)ModbusSlaveSetHoldingRegister(//有效帧计数

  95.       HMI_REG_RX_FRAME_COUNT,

  96.       (uint16_t)ModbusSlaveStatistics.validFrameCount);

  97. 

  98.     (void)ModbusSlaveSetHoldingRegister(//从站地址不匹配计数

  99.       3,

  100.       (uint16_t)ModbusSlaveStatistics.ignoredAddressCount);

  101.     (void)ModbusSlaveSetHoldingRegister(//非法功能码计数

  102.       4,

  103.       (uint16_t)ModbusSlaveStatistics.illegalFunctionCount);

  104. 

  105.     (void)ModbusSlaveSetHoldingRegister(//非法地址计数

  106.       5,

  107.       (uint16_t)ModbusSlaveStatistics.illegalAddressCount);

  108. 

  109.     (void)ModbusSlaveSetHoldingRegister(//非法数据值计数

  110.       6,

  111.       (uint16_t)ModbusSlaveStatistics.illegalValueCount);

  112. 

  113. 

  114. 

  115. 

  116. 

  117. 

  118. 

  119.     /*

  120.      * 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。

  121.      * 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。

  122.      */

  123.     ModbusSlavePoll();

  124.     ModbusRetainedRegistersPoll();

  125.     OSTimeDly(1U);

  126.   }

  127. }

  128. 

  129. 

  130. /* USER CODE END 0 */

  131. 

  132. /**

  133.   * @brief  The application entry point.

  134.   * @retval int

  135.   */

  136. int main(void)

  137. {

  138. 

  139.   /* USER CODE BEGIN 1 */

  140. 

  141.   /* USER CODE END 1 */

  142. 

  143.   /* MCU Configuration--------------------------------------------------------*/

  144. 

  145.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */

  146.   HAL_Init();

  147. 

  148.   /* USER CODE BEGIN Init */

  149. 

  150.   /* USER CODE END Init */

  151. 

  152.   /* Configure the system clock */

  153.   SystemClock_Config();

  154. 

  155.   /* USER CODE BEGIN SysInit */

  156. 

  157.   /* USER CODE END SysInit */

  158. 

  159.   /* Initialize all configured peripherals */

  160.   MX_GPIO_Init();

  161.   MX_DMA_Init();

  162.   MX_USB_DEVICE_Init();

  163.   MX_USART1_UART_Init();

  164.   BackupSramInit();

  165. 

  166. 

  167.   /* USER CODE BEGIN 2 */

  168.   /* uC/OS-II接口通常用返回错误码的方式报告执行结果。 */

  169.   INT8U os_err;

  170. 

  171.   /*

  172.    * 初始化内核的任务表、就绪表、事件控制块等内部数据。

  173.    * OSInit()只完成初始化，此时任务调度尚未开始。

  174.    */

  175.   OSInit();

  176. 

  177.   /*

  178.    * 创建应用启动任务，各参数依次为：

  179.    * 1. 任务入口函数；

  180.    * 2. 传给任务的参数（当前不需要，所以为0）；

  181.    * 3. 初始栈顶地址；

  182.    * 4. 任务优先级，数值越小优先级越高；

  183.    * 5. 任务ID，本工程暂时与优先级取相同值；

  184.    * 6. 栈底地址；

  185.    * 7. 栈容量，单位是OS_STK元素而不是字节；

  186.    * 8. 用户扩展指针（当前不用）；

  187.    * 9. 创建选项：允许栈检查并在创建时清零任务栈。

  188.    */

  189.   os_err = OSTaskCreateExt(AppTaskStart,

  190.                           0,

  191.                           &AppTaskStartStk[APP_TASK_START_STK_SIZE - 1u],

  192.                           APP_TASK_START_PRIO,

  193.                           APP_TASK_START_PRIO,

  194.                           &AppTaskStartStk[0],

  195.                           APP_TASK_START_STK_SIZE,

  196.                           0,

  197.                           (OS_TASK_OPT_STK_CHK |

  198.                           OS_TASK_OPT_STK_CLR));

  199. 

  200.   if (os_err != OS_ERR_NONE)

  201.   {

  202.     Error_Handler();

  203.   }

  204. 

  205.   /*

  206.    * 启动抢占式调度，内核会运行当前最高优先级的就绪任务。

  207.    * OSStart()成功后不会返回，后面的裸机while循环不会再被执行。

  208.    */

  209.   OSStart();

  210.   /* USER CODE END 2 */

  211. 

  212.   /* Infinite loop */

  213.   /* USER CODE BEGIN WHILE */

  214.   while (1)

  215.   {

  216.     /* USER CODE END WHILE */

  217. 

  218.     /* USER CODE BEGIN 3 */

  219. 

  220.   }

  221.   /* USER CODE END 3 */

  222. }

  223. 

  224. static HAL_StatusTypeDef BackupSramInit(void)

  225. {

  226.     HAL_PWR_EnableBkUpAccess();

  227.     __HAL_RCC_BKPSRAM_CLK_ENABLE();

  228. 

  229.     return HAL_PWREx_EnableBkUpReg();

  230. }

  231. 

  232. /**

  233.   * @brief System Clock Configuration

  234.   * @retval None

  235.   */

  236. void SystemClock_Config(void)

  237. {

  238.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};

  239.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  240. 

  241.   /** Configure the main internal regulator output voltage

  242.   */

  243.   __HAL_RCC_PWR_CLK_ENABLE();

  244.   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  245. 

  246.   /** Initializes the RCC Oscillators according to the specified parameters

  247.   * in the RCC_OscInitTypeDef structure.

  248.   */

  249.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;

  250.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;

  251.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;

  252.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;

  253.   RCC_OscInitStruct.PLL.PLLM = 12;

  254.   RCC_OscInitStruct.PLL.PLLN = 336;

  255.   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;

  256.   RCC_OscInitStruct.PLL.PLLQ = 7;

  257.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)

  258.   {

  259.     Error_Handler();

  260.   }

  261. 

  262.   /** Initializes the CPU, AHB and APB buses clocks

  263.   */

  264.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK

  265.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;

  266.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;

  267.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

  268.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;

  269.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  270. 

  271.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)

  272.   {

  273.     Error_Handler();

  274.   }

  275. 

  276.   /** Enables the Clock Security System

  277.   */

  278.   HAL_RCC_EnableCSS();

  279. }

  280. 

  281. /**

  282.   * @brief USART1 Initialization Function

  283.   * @param None

  284.   * @retval None

  285.   */

  286. static void MX_USART1_UART_Init(void)

  287. {

  288. 

  289.   /* USER CODE BEGIN USART1_Init 0 */

  290. 

  291.   /* USER CODE END USART1_Init 0 */

  292. 

  293.   /* USER CODE BEGIN USART1_Init 1 */

  294. 

  295.   /* USER CODE END USART1_Init 1 */

  296.   huart1.Instance = USART1;

  297.   huart1.Init.BaudRate = 115200;

  298.   huart1.Init.WordLength = UART_WORDLENGTH_9B;

  299.   huart1.Init.StopBits = UART_STOPBITS_1;

  300.   huart1.Init.Parity = UART_PARITY_EVEN;

  301.   huart1.Init.Mode = UART_MODE_TX_RX;

  302.   huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;

  303.   huart1.Init.OverSampling = UART_OVERSAMPLING_16;

  304.   if (HAL_UART_Init(&huart1) != HAL_OK)

  305.   {

  306.     Error_Handler();

  307.   }

  308.   /* USER CODE BEGIN USART1_Init 2 */

  309. 

  310.   /* USER CODE END USART1_Init 2 */

  311. 

  312. }

  313. 

  314. /**

  315.   * Enable DMA controller clock

  316.   */

  317. static void MX_DMA_Init(void)

  318. {

  319. 

  320.   /* DMA controller clock enable */

  321.   __HAL_RCC_DMA2_CLK_ENABLE();

  322. 

  323.   /* DMA interrupt init */

  324.   /* DMA2_Stream2_IRQn interrupt configuration */

  325.   HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);

  326.   HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);

  327.   /* DMA2_Stream7_IRQn interrupt configuration */

  328.   HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0);

  329.   HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);

  330. 

  331. }

  332. 

  333. /**

  334.   * @brief GPIO Initialization Function

  335.   * @param None

  336.   * @retval None

  337.   */

  338. static void MX_GPIO_Init(void)

  339. {

  340.   /* USER CODE BEGIN MX_GPIO_Init_1 */

  341. 

  342.   /* USER CODE END MX_GPIO_Init_1 */

  343. 

  344.   /* GPIO Ports Clock Enable */

  345.   __HAL_RCC_GPIOH_CLK_ENABLE();

  346.   __HAL_RCC_GPIOA_CLK_ENABLE();

  347. 

  348.   /* USER CODE BEGIN MX_GPIO_Init_2 */

  349. 

  350.   /* USER CODE END MX_GPIO_Init_2 */

  351. }

  352. 

  353. /* USER CODE BEGIN 4 */

  354. 

  355. void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)

  356. {

  357.   if (huart->Instance == USART1)

  358.   {

  359.     /* 应答发送完成后，协议模块重新启动DMA接收。 */

  360.     ModbusSlaveOnTxComplete(huart);

  361.   }

  362. }

  363. 

  364. void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)

  365. {

  366.   if (huart->Instance == USART1)

  367.   {

  368.     /*

  369.      * DMA遇到串口空闲事件后进入这里。

  370.      * 仅复制帧并重启DMA

  371.      */

  372.     ModbusSlaveOnRxEvent(huart, Size);

  373.   }

  374. }

  375. 

  376. void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)

  377. {

  378.   if (huart->Instance == USART1)

  379.   {

  380.     /* 溢出、噪声、帧错误等异常后恢复USART1 DMA接收。 */

  381.     ModbusSlaveOnUartError(huart);

  382.   }

  383. }

  384. 

  385. /* USER CODE END 4 */

  386. 

  387. /**

  388.   * @brief  This function is executed in case of error occurrence.

  389.   * @retval None

  390.   */

  391. void Error_Handler(void)

  392. {

  393.   /* USER CODE BEGIN Error_Handler_Debug */

  394.   /* User can add his own implementation to report the HAL error return state */

  395.   __disable_irq();

  396.   while (1)

  397.   {

  398.   }

  399.   /* USER CODE END Error_Handler_Debug */

  400. }

  401. #ifdef USE_FULL_ASSERT

  402. /**

  403.   * @brief  Reports the name of the source file and the source line number

  404.   *         where the assert_param error has occurred.

  405.   * @param  file: pointer to the source file name

  406.   * @param  line: assert_param error line source number

  407.   * @retval None

  408.   */

  409. void assert_failed(uint8_t *file, uint32_t line)

  410. {

  411.   /* USER CODE BEGIN 6 */

  412.   /* User can add his own implementation to report the file name and line number,

  413.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

  414.   /* USER CODE END 6 */

  415. }

  416. #endif /* USE_FULL_ASSERT */