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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(

  92.       HMI_REG_UPTIME_SECONDS,

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

  94.     (void)ModbusSlaveSetHoldingRegister(

  95.       HMI_REG_RX_FRAME_COUNT,

  96.       (uint16_t)ModbusSlaveStatistics.validFrameCount);

  97. 

  98.     /*

  99.      * 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。

  100.      * 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。

  101.      */

  102.     ModbusSlavePoll();

  103.     ModbusRetainedRegistersPoll();

  104.     OSTimeDly(1U);

  105.   }

  106. }

  107. 

  108. 

  109. /* USER CODE END 0 */

  110. 

  111. /**

  112.   * @brief  The application entry point.

  113.   * @retval int

  114.   */

  115. int main(void)

  116. {

  117. 

  118.   /* USER CODE BEGIN 1 */

  119. 

  120.   /* USER CODE END 1 */

  121. 

  122.   /* MCU Configuration--------------------------------------------------------*/

  123. 

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

  125.   HAL_Init();

  126. 

  127.   /* USER CODE BEGIN Init */

  128. 

  129.   /* USER CODE END Init */

  130. 

  131.   /* Configure the system clock */

  132.   SystemClock_Config();

  133. 

  134.   /* USER CODE BEGIN SysInit */

  135. 

  136.   /* USER CODE END SysInit */

  137. 

  138.   /* Initialize all configured peripherals */

  139.   MX_GPIO_Init();

  140.   MX_DMA_Init();

  141.   MX_USB_DEVICE_Init();

  142.   MX_USART1_UART_Init();

  143.   BackupSramInit();

  144. 

  145. 

  146.   /* USER CODE BEGIN 2 */

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

  148.   INT8U os_err;

  149. 

  150.   /*

  151.    * 初始化内核的任务表、就绪表、事件控制块等内部数据。

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

  153.    */

  154.   OSInit();

  155. 

  156.   /*

  157.    * 创建应用启动任务，各参数依次为：

  158.    * 1. 任务入口函数；

  159.    * 2. 传给任务的参数（当前不需要，所以为0）；

  160.    * 3. 初始栈顶地址；

  161.    * 4. 任务优先级，数值越小优先级越高；

  162.    * 5. 任务ID，本工程暂时与优先级取相同值；

  163.    * 6. 栈底地址；

  164.    * 7. 栈容量，单位是OS_STK元素而不是字节；

  165.    * 8. 用户扩展指针（当前不用）；

  166.    * 9. 创建选项：允许栈检查并在创建时清零任务栈。

  167.    */

  168.   os_err = OSTaskCreateExt(AppTaskStart,

  169.                           0,

  170.                           &AppTaskStartStk[APP_TASK_START_STK_SIZE - 1u],

  171.                           APP_TASK_START_PRIO,

  172.                           APP_TASK_START_PRIO,

  173.                           &AppTaskStartStk[0],

  174.                           APP_TASK_START_STK_SIZE,

  175.                           0,

  176.                           (OS_TASK_OPT_STK_CHK |

  177.                           OS_TASK_OPT_STK_CLR));

  178. 

  179.   if (os_err != OS_ERR_NONE)

  180.   {

  181.     Error_Handler();

  182.   }

  183. 

  184.   /*

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

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

  187.    */

  188.   OSStart();

  189.   /* USER CODE END 2 */

  190. 

  191.   /* Infinite loop */

  192.   /* USER CODE BEGIN WHILE */

  193.   while (1)

  194.   {

  195.     /* USER CODE END WHILE */

  196. 

  197.     /* USER CODE BEGIN 3 */

  198. 

  199.   }

  200.   /* USER CODE END 3 */

  201. }

  202. 

  203. static HAL_StatusTypeDef BackupSramInit(void)

  204. {

  205.     HAL_PWR_EnableBkUpAccess();

  206.     __HAL_RCC_BKPSRAM_CLK_ENABLE();

  207. 

  208.     return HAL_PWREx_EnableBkUpReg();

  209. }

  210. 

  211. /**

  212.   * @brief System Clock Configuration

  213.   * @retval None

  214.   */

  215. void SystemClock_Config(void)

  216. {

  217.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};

  218.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  219. 

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

  221.   */

  222.   __HAL_RCC_PWR_CLK_ENABLE();

  223.   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  224. 

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

  226.   * in the RCC_OscInitTypeDef structure.

  227.   */

  228.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;

  229.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;

  230.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;

  231.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;

  232.   RCC_OscInitStruct.PLL.PLLM = 12;

  233.   RCC_OscInitStruct.PLL.PLLN = 336;

  234.   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;

  235.   RCC_OscInitStruct.PLL.PLLQ = 7;

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

  237.   {

  238.     Error_Handler();

  239.   }

  240. 

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

  242.   */

  243.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK

  244.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;

  245.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;

  246.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;

  247.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;

  248.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  249. 

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

  251.   {

  252.     Error_Handler();

  253.   }

  254. 

  255.   /** Enables the Clock Security System

  256.   */

  257.   HAL_RCC_EnableCSS();

  258. }

  259. 

  260. /**

  261.   * @brief USART1 Initialization Function

  262.   * @param None

  263.   * @retval None

  264.   */

  265. static void MX_USART1_UART_Init(void)

  266. {

  267. 

  268.   /* USER CODE BEGIN USART1_Init 0 */

  269. 

  270.   /* USER CODE END USART1_Init 0 */

  271. 

  272.   /* USER CODE BEGIN USART1_Init 1 */

  273. 

  274.   /* USER CODE END USART1_Init 1 */

  275.   huart1.Instance = USART1;

  276.   huart1.Init.BaudRate = 19200;

  277.   huart1.Init.WordLength = UART_WORDLENGTH_9B;

  278.   huart1.Init.StopBits = UART_STOPBITS_1;

  279.   huart1.Init.Parity = UART_PARITY_EVEN;

  280.   huart1.Init.Mode = UART_MODE_TX_RX;

  281.   huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;

  282.   huart1.Init.OverSampling = UART_OVERSAMPLING_16;

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

  284.   {

  285.     Error_Handler();

  286.   }

  287.   /* USER CODE BEGIN USART1_Init 2 */

  288. 

  289.   /* USER CODE END USART1_Init 2 */

  290. 

  291. }

  292. 

  293. /**

  294.   * Enable DMA controller clock

  295.   */

  296. static void MX_DMA_Init(void)

  297. {

  298. 

  299.   /* DMA controller clock enable */

  300.   __HAL_RCC_DMA2_CLK_ENABLE();

  301. 

  302.   /* DMA interrupt init */

  303.   /* DMA2_Stream2_IRQn interrupt configuration */

  304.   HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);

  305.   HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);

  306.   /* DMA2_Stream7_IRQn interrupt configuration */

  307.   HAL_NVIC_SetPriority(DMA2_Stream7_IRQn, 5, 0);

  308.   HAL_NVIC_EnableIRQ(DMA2_Stream7_IRQn);

  309. 

  310. }

  311. 

  312. /**

  313.   * @brief GPIO Initialization Function

  314.   * @param None

  315.   * @retval None

  316.   */

  317. static void MX_GPIO_Init(void)

  318. {

  319.   /* USER CODE BEGIN MX_GPIO_Init_1 */

  320. 

  321.   /* USER CODE END MX_GPIO_Init_1 */

  322. 

  323.   /* GPIO Ports Clock Enable */

  324.   __HAL_RCC_GPIOH_CLK_ENABLE();

  325.   __HAL_RCC_GPIOA_CLK_ENABLE();

  326. 

  327.   /* USER CODE BEGIN MX_GPIO_Init_2 */

  328. 

  329.   /* USER CODE END MX_GPIO_Init_2 */

  330. }

  331. 

  332. /* USER CODE BEGIN 4 */

  333. 

  334. void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)

  335. {

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

  337.   {

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

  339.     ModbusSlaveOnTxComplete(huart);

  340.   }

  341. }

  342. 

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

  344. {

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

  346.   {

  347.     /*

  348.      * DMA遇到串口空闲事件后进入这里。

  349.      * 仅复制帧并重启DMA

  350.      */

  351.     ModbusSlaveOnRxEvent(huart, Size);

  352.   }

  353. }

  354. 

  355. void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)

  356. {

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

  358.   {

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

  360.     ModbusSlaveOnUartError(huart);

  361.   }

  362. }

  363. 

  364. /* USER CODE END 4 */

  365. 

  366. /**

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

  368.   * @retval None

  369.   */

  370. void Error_Handler(void)

  371. {

  372.   /* USER CODE BEGIN Error_Handler_Debug */

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

  374.   __disable_irq();

  375.   while (1)

  376.   {

  377.   }

  378.   /* USER CODE END Error_Handler_Debug */

  379. }

  380. #ifdef USE_FULL_ASSERT

  381. /**

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

  383.   *         where the assert_param error has occurred.

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

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

  386.   * @retval None

  387.   */

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

  389. {

  390.   /* USER CODE BEGIN 6 */

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

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

  393.   /* USER CODE END 6 */

  394. }

  395. #endif /* USE_FULL_ASSERT */