Modbus/Core/Src/main.c

/**
 * @file    main.c
 * @brief   基于 uC/OS-II 的 Modbus RTU 从站主程序。
 * @version 2.0
 * @author  zengbingjie
 * @date    2026-07-29
 * @copyright 版权所有 (c) 2026 Xinje Electric。
 * @note    修改记录：2.0 增加帧隔离、连接状态和可靠收发处理。
 */

#include "main.h"

#include "modbus.h"

#define APP_MODBUS_STATUS_REGISTER_COUNT    (8U)
#define APP_MODBUS_FUNCTION_INDEX            (1U)

static OS_STK AppTaskStartStk[APP_TASK_START_STK_SIZE];
static OS_STK AppTaskModbusStk[APP_TASK_MODBUS_STK_SIZE];
static OS_STK AppTaskT35Stk[APP_TASK_T35_STK_SIZE];

UART_HandleTypeDef Uart1Handle;

static MODBUS_SLAVE ModbusSlave;
static OS_EVENT *ModbusFrameSem;
static OS_EVENT *ModbusTxSem;
static uint8_t ModbusRxBuffer[MODBUS_RX_BUF_SIZE];
static uint8_t ModbusTxBuffer[MODBUS_TX_BUF_SIZE];
static volatile uint16_t ModbusRxLength;
static volatile uint16_t ModbusFrameLength;
static volatile uint32_t ModbusLastRxTick;
static volatile uint8_t ModbusFrameReady;
static volatile uint8_t ModbusRxOverflow;
static volatile uint32_t ModbusReceiveErrorCount;
static volatile uint32_t ModbusSemaphoreErrorCount;
static uint32_t ModbusLastActivityTick;
static uint32_t ModbusOperationRxCount;
static uint32_t ModbusOperationTxCount;
static uint32_t ModbusProtocolErrorCount;
static uint8_t ModbusHasActivity;
static MODBUS_STATUS ModbusLastStatus;

static GPIO_TypeDef *const AppOutputPorts[APP_MODBUS_OUTPUT_COIL_COUNT] = {
    PLC_Q0_PORT,
    PLC_Q1_PORT,
    PLC_Q2_PORT,
    PLC_Q3_PORT,
    PLC_Q4_PORT,
    PLC_Q5_PORT,
    PLC_Q6_PORT,
    PLC_Q7_PORT
};

static const uint16_t AppOutputPins[APP_MODBUS_OUTPUT_COIL_COUNT] = {
    PLC_Q0_PIN,
    PLC_Q1_PIN,
    PLC_Q2_PIN,
    PLC_Q3_PIN,
    PLC_Q4_PIN,
    PLC_Q5_PIN,
    PLC_Q6_PIN,
    PLC_Q7_PIN
};

void SystemClock_Config(void);

static void AppTaskStart(void *argument);
static void AppTaskModbus(void *argument);
static void AppTaskT35(void *argument);
static void AppInitGpio(void);
static void AppInitUart1(void);
static INT8U AppCreateTasks(void);
static HAL_StatusTypeDef AppStartUartReception(void);
static HAL_StatusTypeDef AppTransmitResponse(uint16_t txLength);
static uint8_t AppSealReceivedFrame(void);
static uint16_t AppGetReadyFrameLength(void);
static INT8U AppPostModbusFrameSem(void);
static uint8_t AppIsModbusStatusAccepted(MODBUS_STATUS status);
static uint8_t AppIsModbusWriteFunction(uint8_t functionCode);
static MODBUS_STATUS AppUpdateStatusRegisters(void);
static MODBUS_STATUS AppSyncCoilsToGpio(void);
static void AppProcessFrame(uint16_t rxLength);
static void AppRecordIsrError(void);

/**
 * @brief 应用程序入口。
 * @return 该函数不返回。
 */
int main(void)
{
    INT8U osError;

    HAL_Init();
    SystemClock_Config();
    AppInitGpio();
    AppInitUart1();

    OSInit();
    osError = OSTaskCreateExt(
        AppTaskStart, NULL,
        &AppTaskStartStk[APP_TASK_START_STK_SIZE - 1U],
        APP_TASK_START_PRIO, APP_TASK_START_PRIO, &AppTaskStartStk[0],
        APP_TASK_START_STK_SIZE, NULL,
        OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
    if (osError != OS_ERR_NONE) {
        Error_Handler();
    }

    OSStart();

    while (1) {
    }
}

/**
 * @brief 配置 STM32F407 的 168 MHz 系统时钟。
 * @note 使用板载 12 MHz 外部晶振作为 PLL 时钟源。
 */
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef oscillatorConfig = {0};
    RCC_ClkInitTypeDef clockConfig = {0};

    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    oscillatorConfig.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    oscillatorConfig.HSEState = RCC_HSE_ON;
    oscillatorConfig.PLL.PLLState = RCC_PLL_ON;
    oscillatorConfig.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    oscillatorConfig.PLL.PLLM = 12U;
    oscillatorConfig.PLL.PLLN = 336U;
    oscillatorConfig.PLL.PLLP = RCC_PLLP_DIV2;
    oscillatorConfig.PLL.PLLQ = 7U;
    if (HAL_RCC_OscConfig(&oscillatorConfig) != HAL_OK) {
        Error_Handler();
    }

    clockConfig.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK
        | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    clockConfig.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    clockConfig.AHBCLKDivider = RCC_SYSCLK_DIV1;
    clockConfig.APB1CLKDivider = RCC_HCLK_DIV4;
    clockConfig.APB2CLKDivider = RCC_HCLK_DIV2;
    if (HAL_RCC_ClockConfig(&clockConfig, FLASH_LATENCY_5) != HAL_OK) {
        Error_Handler();
    }
}

/**
 * @brief 初始化 XDM-60T4-E 的 Q0 至 Q7 输出引脚。
 * @note 板卡输出为低电平有效，初始状态全部关闭。
 */
static void AppInitGpio(void)
{
    GPIO_InitTypeDef gpioConfig = {0};

    __HAL_RCC_GPIOE_CLK_ENABLE();
    __HAL_RCC_GPIOF_CLK_ENABLE();
    __HAL_RCC_GPIOI_CLK_ENABLE();

    gpioConfig.Mode = GPIO_MODE_OUTPUT_PP;
    gpioConfig.Pull = GPIO_PULLUP;
    gpioConfig.Speed = GPIO_SPEED_FREQ_LOW;

    gpioConfig.Pin = PLC_Q0_PIN | PLC_Q1_PIN | PLC_Q2_PIN | PLC_Q3_PIN;
    HAL_GPIO_Init(GPIOF, &gpioConfig);

    gpioConfig.Pin = PLC_Q4_PIN;
    HAL_GPIO_Init(GPIOI, &gpioConfig);

    gpioConfig.Pin = PLC_Q5_PIN | PLC_Q6_PIN | PLC_Q7_PIN;
    HAL_GPIO_Init(GPIOE, &gpioConfig);

    HAL_GPIO_WritePin(GPIOF, PLC_Q0_PIN | PLC_Q1_PIN | PLC_Q2_PIN
                      | PLC_Q3_PIN, GPIO_PIN_SET);
    HAL_GPIO_WritePin(GPIOI, PLC_Q4_PIN, GPIO_PIN_SET);
    HAL_GPIO_WritePin(GPIOE, PLC_Q5_PIN | PLC_Q6_PIN | PLC_Q7_PIN,
                      GPIO_PIN_SET);
}

/**
 * @brief 初始化 Modbus RTU 使用的 USART1。
 */
static void AppInitUart1(void)
{
    Uart1Handle.Instance = USART1;
    Uart1Handle.Init.BaudRate = APP_MODBUS_BAUD_RATE;
    Uart1Handle.Init.WordLength = UART_WORDLENGTH_8B;
    Uart1Handle.Init.StopBits = UART_STOPBITS_1;
    Uart1Handle.Init.Parity = UART_PARITY_NONE;
    Uart1Handle.Init.Mode = UART_MODE_TX_RX;
    Uart1Handle.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    Uart1Handle.Init.OverSampling = UART_OVERSAMPLING_16;
    if (HAL_UART_Init(&Uart1Handle) != HAL_OK) {
        Error_Handler();
    }
}

/**
 * @brief 创建 Modbus 工作任务与帧间隔检测任务。
 * @return uC/OS-II 错误码。
 */
static INT8U AppCreateTasks(void)
{
    INT8U osError;

    osError = OSTaskCreateExt(
        AppTaskModbus, NULL,
        &AppTaskModbusStk[APP_TASK_MODBUS_STK_SIZE - 1U],
        APP_TASK_MODBUS_PRIO, APP_TASK_MODBUS_PRIO,
        &AppTaskModbusStk[0], APP_TASK_MODBUS_STK_SIZE, NULL,
        OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);
    if (osError != OS_ERR_NONE) {
        return osError;
    }

    osError = OSTaskCreateExt(
        AppTaskT35, NULL, &AppTaskT35Stk[APP_TASK_T35_STK_SIZE - 1U],
        APP_TASK_T35_PRIO, APP_TASK_T35_PRIO, &AppTaskT35Stk[0],
        APP_TASK_T35_STK_SIZE, NULL,
        OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);

    return osError;
}

/**
 * @brief 启动任务，创建同步对象并启动应用任务。
 * @param[in] argument 未使用。
 */
static void AppTaskStart(void *argument)
{
    INT8U osError;

    (void)argument;
    ModbusFrameSem = OSSemCreate(0U);
    ModbusTxSem = OSSemCreate(0U);
    if ((ModbusFrameSem == NULL) || (ModbusTxSem == NULL)) {
        Error_Handler();
    }

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

    OSTaskSuspend(OS_PRIO_SELF);
    while (1) {
    }
}

/**
 * @brief 清空接收状态并启动 USART1 单字节中断接收。
 * @return HAL 状态码。
 */
static HAL_StatusTypeDef AppStartUartReception(void)
{
    OS_CPU_SR cpu_sr = 0U;
    HAL_StatusTypeDef halStatus;

    OS_ENTER_CRITICAL();
    ModbusRxLength = 0U;
    ModbusFrameLength = 0U;
    ModbusFrameReady = 0U;
    ModbusRxOverflow = 0U;
    ModbusLastRxTick = OSTimeGet();
    OS_EXIT_CRITICAL();

    halStatus = HAL_UART_Receive_IT(&Uart1Handle, &ModbusRxBuffer[0], 1U);

    return halStatus;
}

/**
 * @brief 通过 USART1 发送 Modbus 从站响应帧。
 * @param[in] txLength 响应帧长度。
 * @return HAL 状态码。
 */
static HAL_StatusTypeDef AppTransmitResponse(uint16_t txLength)
{
    HAL_StatusTypeDef halStatus;
    INT8U osError;

    if ((txLength == 0U) || (txLength > MODBUS_TX_BUF_SIZE)) {
        return HAL_ERROR;
    }

    halStatus = HAL_UART_Transmit_IT(&Uart1Handle, ModbusTxBuffer, txLength);
    if (halStatus != HAL_OK) {
        return halStatus;
    }

    OSSemPend(ModbusTxSem, APP_MODBUS_TX_TIMEOUT_TICKS, &osError);
    if (osError != OS_ERR_NONE) {
        (void)HAL_UART_AbortTransmit_IT(&Uart1Handle);
        return HAL_TIMEOUT;
    }

    return HAL_OK;
}

/**
 * @brief 根据 T3.5 静默时间将接收缓冲区封存为完整帧。
 * @return 1 表示已封存完整帧；0 表示未满足封帧条件。
 */
static uint8_t AppSealReceivedFrame(void)
{
    OS_CPU_SR cpu_sr = 0U;
    HAL_StatusTypeDef halStatus;
    uint32_t currentTick;
    uint32_t elapsedTicks;
    uint8_t frameSealed;

    frameSealed = 0U;
    currentTick = OSTimeGet();
    OS_ENTER_CRITICAL();
    elapsedTicks = currentTick - ModbusLastRxTick;
    if ((ModbusRxLength > 0U) && (ModbusFrameReady == 0U)
        && (elapsedTicks >= APP_MODBUS_T35_TICKS)) {
        ModbusFrameLength = ModbusRxLength;
        ModbusFrameReady = 1U;
        frameSealed = 1U;
    }
    OS_EXIT_CRITICAL();

    if (frameSealed == 0U) {
        return 0U;
    }

    halStatus = HAL_UART_AbortReceive_IT(&Uart1Handle);
    if (halStatus != HAL_OK) {
        AppRecordIsrError();
    }

    if (AppPostModbusFrameSem() != OS_ERR_NONE) {
        AppRecordIsrError();
    }

    return 1U;
}

/**
 * @brief 原子读取已封存 Modbus 帧的长度。
 * @return 完整帧长度；无完整帧时返回 0。
 */
static uint16_t AppGetReadyFrameLength(void)
{
    OS_CPU_SR cpu_sr = 0U;
    uint16_t frameLength;

    frameLength = 0U;
    OS_ENTER_CRITICAL();
    if (ModbusFrameReady != 0U) {
        frameLength = ModbusFrameLength;
    }
    OS_EXIT_CRITICAL();

    return frameLength;
}

/**
 * @brief 通知 Modbus 任务处理完整帧或刷新通信状态。
 * @return uC/OS-II 错误码。
 */
static INT8U AppPostModbusFrameSem(void)
{
    INT8U osError;

    osError = OSSemPost(ModbusFrameSem);

    return osError;
}

/**
 * @brief 判断协议处理结果是否代表已寻址的有效通信。
 * @param[in] status Modbus 协议处理结果。
 * @return 1 表示有效通信；0 表示无效通信。
 */
static uint8_t AppIsModbusStatusAccepted(MODBUS_STATUS status)
{
    if ((status == MODBUS_STATUS_OK) || (status == MODBUS_STATUS_BROADCAST)
        || (status == MODBUS_STATUS_EXCEPTION)) {
        return 1U;
    }

    return 0U;
}

/**
 * @brief 判断功能码是否为触摸屏的写操作。
 * @param[in] functionCode Modbus 功能码。
 * @return 写操作返回 1，否则返回 0。
 */
static uint8_t AppIsModbusWriteFunction(uint8_t functionCode)
{
    switch (functionCode) {
        case MODBUS_FC_WRITE_SINGLE_COIL:
        case MODBUS_FC_WRITE_SINGLE_REG:
        case MODBUS_FC_WRITE_MULTIPLE_COILS:
        case MODBUS_FC_WRITE_MULTIPLE_REGS:
            return 1U;

        default:
            return 0U;
    }
}

/**
 * @brief 更新供触摸屏读取的通信状态寄存器。
 * @return 成功返回 MODBUS_STATUS_OK；失败返回错误状态。
 */
static MODBUS_STATUS AppUpdateStatusRegisters(void)
{
    MODBUS_STATUS status;
    uint32_t currentTick;
    uint8_t linkState;
    uint16_t registerValue;

    currentTick = OSTimeGet();
    linkState = APP_MODBUS_LINK_DISCONNECTED;
    if ((ModbusHasActivity != 0U)
        && ((currentTick - ModbusLastActivityTick)
            < APP_MODBUS_LINK_TIMEOUT_TICKS)) {
        linkState = APP_MODBUS_LINK_CONNECTED;
    }

    status = ModbusSetHoldingRegister(&ModbusSlave,
                                      APP_MODBUS_REG_LINK_STATE, linkState);
    if (status != MODBUS_STATUS_OK) {
        return status;
    }

    registerValue = (uint16_t)(ModbusOperationRxCount & 0xFFFFU);
    status = ModbusSetHoldingRegister(&ModbusSlave,
                                      APP_MODBUS_REG_OPERATION_RX_COUNT,
                                      registerValue);
    if (status != MODBUS_STATUS_OK) {
        return status;
    }

    registerValue = (uint16_t)(ModbusOperationTxCount & 0xFFFFU);
    status = ModbusSetHoldingRegister(&ModbusSlave,
                                      APP_MODBUS_REG_OPERATION_TX_COUNT,
                                      registerValue);
    if (status != MODBUS_STATUS_OK) {
        return status;
    }

    registerValue = (uint16_t)((ModbusProtocolErrorCount
        + ModbusReceiveErrorCount + ModbusSemaphoreErrorCount) & 0xFFFFU);
    status = ModbusSetHoldingRegister(&ModbusSlave,
                                      APP_MODBUS_REG_ERROR_COUNT,
                                      registerValue);
    if (status != MODBUS_STATUS_OK) {
        return status;
    }

    status = ModbusSetHoldingRegister(&ModbusSlave,
                                      APP_MODBUS_REG_SYSTEM_TICK_LOW,
                                      (uint16_t)(currentTick & 0xFFFFU));
    if (status != MODBUS_STATUS_OK) {
        return status;
    }

    status = ModbusSetHoldingRegister(&ModbusSlave,
                                      APP_MODBUS_REG_SYSTEM_TICK_HIGH,
                                      (uint16_t)(currentTick >> 16U));
    if (status != MODBUS_STATUS_OK) {
        return status;
    }

    status = ModbusSetHoldingRegister(&ModbusSlave,
                                      APP_MODBUS_REG_LAST_STATUS,
                                      (uint16_t)ModbusLastStatus);
    if (status != MODBUS_STATUS_OK) {
        return status;
    }

    status = ModbusSetHoldingRegister(&ModbusSlave,
                                      APP_MODBUS_REG_LAST_FRAME_LENGTH,
                                      ModbusFrameLength);

    return status;
}

/**
 * @brief 将线圈 0 至 7 的状态同步到 PLC Q0 至 Q7 输出。
 * @return 成功返回 MODBUS_STATUS_OK；失败返回错误状态。
 */
static MODBUS_STATUS AppSyncCoilsToGpio(void)
{
    MODBUS_STATUS status;
    uint16_t coilAddress;
    uint8_t coilValue;
    GPIO_PinState pinState;

    for (coilAddress = 0U; coilAddress < APP_MODBUS_OUTPUT_COIL_COUNT;
         coilAddress++) {
        status = ModbusGetCoil(&ModbusSlave, coilAddress, &coilValue);
        if (status != MODBUS_STATUS_OK) {
            return status;
        }

        pinState = (coilValue != 0U) ? GPIO_PIN_RESET : GPIO_PIN_SET;
        HAL_GPIO_WritePin(AppOutputPorts[coilAddress],
                          AppOutputPins[coilAddress], pinState);
    }

    return MODBUS_STATUS_OK;
}

/**
 * @brief 处理已封存的 Modbus RTU 请求帧。
 * @param[in] rxLength 请求帧长度。
 */
static void AppProcessFrame(uint16_t rxLength)
{
    HAL_StatusTypeDef halStatus;
    MODBUS_STATUS status;
    uint16_t txLength;
    uint8_t isWriteOperation;

    isWriteOperation = 0U;

    if ((rxLength == 0U) || (rxLength > MODBUS_RX_BUF_SIZE)) {
        ModbusLastStatus = MODBUS_STATUS_FRAME_ERROR;
        ModbusProtocolErrorCount++;
        return;
    }

    if (ModbusRxOverflow != 0U) {
        ModbusLastStatus = MODBUS_STATUS_FRAME_ERROR;
        ModbusProtocolErrorCount++;
        return;
    }

    status = ModbusProcessFrame(&ModbusSlave, ModbusRxBuffer, rxLength,
                                ModbusTxBuffer, MODBUS_TX_BUF_SIZE,
                                &txLength);
    ModbusLastStatus = status;
    if (AppIsModbusStatusAccepted(status) != 0U) {
        ModbusLastActivityTick = OSTimeGet();
        ModbusHasActivity = 1U;
        if (AppIsModbusWriteFunction(
            ModbusRxBuffer[APP_MODBUS_FUNCTION_INDEX]) != 0U) {
            ModbusOperationRxCount++;
            isWriteOperation = 1U;
        }
    }
    else if (status != MODBUS_STATUS_IGNORED) {
        ModbusProtocolErrorCount++;
    }

    if ((status == MODBUS_STATUS_OK) || (status == MODBUS_STATUS_BROADCAST)) {
        status = AppSyncCoilsToGpio();
        if (status != MODBUS_STATUS_OK) {
            ModbusProtocolErrorCount++;
        }
    }

    status = AppUpdateStatusRegisters();
    if (status != MODBUS_STATUS_OK) {
        ModbusProtocolErrorCount++;
    }

    if (txLength > 0U) {
        halStatus = AppTransmitResponse(txLength);
        if (halStatus != HAL_OK) {
            ModbusProtocolErrorCount++;
        }
        else if (isWriteOperation != 0U) {
            ModbusOperationTxCount++;
        }
    }
}

/**
 * @brief 记录中断上下文中无法立即恢复的通信错误。
 */
static void AppRecordIsrError(void)
{
    ModbusReceiveErrorCount++;
}

/**
 * @brief Modbus 协议处理任务。
 * @param[in] argument 未使用。
 */
static void AppTaskModbus(void *argument)
{
    HAL_StatusTypeDef halStatus;
    INT8U osError;
    uint16_t rxLength;

    (void)argument;
    if (ModbusSlaveInit(&ModbusSlave, MODBUS_SLAVE_ADDR_DEFAULT)
        != MODBUS_STATUS_OK) {
        Error_Handler();
    }

    if (AppSyncCoilsToGpio() != MODBUS_STATUS_OK) {
        Error_Handler();
    }

    if (AppUpdateStatusRegisters() != MODBUS_STATUS_OK) {
        Error_Handler();
    }

    halStatus = AppStartUartReception();
    if (halStatus != HAL_OK) {
        Error_Handler();
    }

    while (1) {
        OSSemPend(ModbusFrameSem, 0U, &osError);
        if (osError != OS_ERR_NONE) {
            ModbusSemaphoreErrorCount++;
            continue;
        }

        rxLength = AppGetReadyFrameLength();
        if (rxLength > 0U) {
            AppProcessFrame(rxLength);

            halStatus = AppStartUartReception();
            if (halStatus != HAL_OK) {
                ModbusReceiveErrorCount++;
            }
        }
        else if (AppUpdateStatusRegisters() != MODBUS_STATUS_OK) {
            ModbusProtocolErrorCount++;
        }
    }
}

/**
 * @brief 定期检测接收静默时间并判断 Modbus RTU 帧结束。
 * @param[in] argument 未使用。
 */
static void AppTaskT35(void *argument)
{
    INT8U osError;
    uint16_t updateElapsedTicks;

    (void)argument;
    updateElapsedTicks = 0U;

    while (1) {
        OSTimeDly(APP_MODBUS_T35_CHECK_TICKS);
        (void)AppSealReceivedFrame();

        updateElapsedTicks += APP_MODBUS_T35_CHECK_TICKS;
        if (updateElapsedTicks >= APP_MODBUS_STATUS_UPDATE_TICKS) {
            updateElapsedTicks = 0U;
            osError = AppPostModbusFrameSem();
            if (osError != OS_ERR_NONE) {
                ModbusSemaphoreErrorCount++;
            }
        }
    }
}

/**
 * @brief USART1 单字节接收完成回调。
 * @param[in] uartHandle 触发回调的串口句柄。
 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *uartHandle)
{
    HAL_StatusTypeDef halStatus;

    if ((uartHandle == NULL) || (uartHandle->Instance != USART1)) {
        return;
    }

    if (ModbusFrameReady != 0U) {
        return;
    }

    if (ModbusRxLength >= MODBUS_RX_BUF_SIZE) {
        ModbusRxOverflow = 1U;
        return;
    }

    ModbusRxLength++;
    ModbusLastRxTick = OSTimeGet();
    if (ModbusRxLength >= MODBUS_RX_BUF_SIZE) {
        ModbusRxOverflow = 1U;
        return;
    }

    halStatus = HAL_UART_Receive_IT(&Uart1Handle,
                                    &ModbusRxBuffer[ModbusRxLength], 1U);
    if (halStatus != HAL_OK) {
        AppRecordIsrError();
    }
}

/**
 * @brief USART1 通信错误回调。
 * @param[in] uartHandle 触发回调的串口句柄。
 */
void HAL_UART_ErrorCallback(UART_HandleTypeDef *uartHandle)
{
    if ((uartHandle == NULL) || (uartHandle->Instance != USART1)) {
        return;
    }

    ModbusRxOverflow = 1U;
    ModbusLastRxTick = OSTimeGet();
    AppRecordIsrError();
}

/**
 * @brief USART1 中断发送完成回调。
 * @param[in] uartHandle 触发回调的串口句柄。
 */
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *uartHandle)
{
    INT8U osError;

    if ((uartHandle == NULL) || (uartHandle->Instance != USART1)) {
        return;
    }

    osError = OSSemPost(ModbusTxSem);
    if (osError != OS_ERR_NONE) {
        ModbusSemaphoreErrorCount++;
    }
}

/**
 * @brief 进入不可恢复错误状态。
 */
void Error_Handler(void)
{
    __disable_irq();

    while (1) {
    }
}