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feat: RS485透传改为Modbus RTU Master轮询寄存器41161报警信号

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This commit is contained in:
zouhaitao
2026-05-27 17:15:57 +08:00
parent 0bc39b7944
commit 5318c35d37
17 changed files with 380 additions and 4373 deletions
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3
Core/Src/cmd_router.c
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@ -28,9 +28,6 @@
#include "uart2_print.h"
#include "debug_log.h"
#include "data_source.h"
#include "uart3_protocol_discriminator.h"
#include "uart3_protocol_discriminator.h"
#include "uart3_passthrough.h"
#include "uart3_smart_router_config.h"
#include <string.h>

52
Core/Src/main.c
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@ -40,6 +40,9 @@
#include "cmd_router.h"
#include "debug_log.h"
/* Modbus RTU Master 模块头文件 */
#include "modbus_rtu_master.h"
/* W5500 Ethernet模块头文件 */
#if USE_W5500
#include "user_main.h"
@ -86,12 +89,6 @@ static uint8_t u1_rx_buffer[256];
static volatile uint16_t u1_rx_len = 0;
static volatile uint32_t u1_last_rx_time = 0;
/* === 485 设备的接收缓存 (UART3) === */
static uint8_t u3_rx_buffer[512];
static volatile uint16_t u3_rx_len = 0;
static volatile uint32_t u3_last_rx_time = 0;
static volatile uint32_t u3_ignore_until = 0;
/* === 协议处理全局变量 === */
static uint16_t g_hb_seq = 0; /* 心跳序列号 */
static uint32_t g_last_hb_tick = 0; /* 上次心跳时间 */
@ -248,6 +245,7 @@ int main(void)
/* 启动UART3接收中断 - RS485接口 */
#if USE_RS485
HAL_UART_Receive_IT(&huart3, &uart3_rx_byte, 1);
ModbusRTU_Master_Init();
#endif
/* 初始化RF433模块 - 使用默认配置 */
@ -331,9 +329,8 @@ int main(void)
UART2_Print_Task();
MultiUART_Task();
/* === 2. 无线接收透传 (433 -> 485/Debug) === */
/* === 2. 无线接收透传 (433 -> Debug) === */
#if (RF433_MODE == RF433_MODE_RX) || (RF433_MODE == RF433_MODE_BOTH)
// 如果 433 收到无线数据，直接透传输出，不进行解码
if (u1_rx_len > 0 && (HAL_GetTick() - u1_last_rx_time > 20))
{
__disable_irq();
@ -341,7 +338,6 @@ int main(void)
u1_rx_len = 0;
__enable_irq();
MultiUART_Send(PORT_RS485, (uint8_t*)u1_rx_buffer, len);
MultiUART_Send(PORT_DEBUG, (uint8_t*)u1_rx_buffer, len);
}
#endif
@ -355,19 +351,9 @@ int main(void)
/* === 4. 实时数据采集与上报 (仅在非发射状态运行) === */
// (A) 485 来源数据处理 (Type 0x48)
// (A) Modbus RTU 轮询任务
#if USE_RS485
if (u3_rx_len > 0 && (HAL_GetTick() - u3_last_rx_time > 20))
{
static uint8_t temp_buf3[512];
__disable_irq();
uint16_t len = u3_rx_len;
memcpy(temp_buf3, (uint8_t*)u3_rx_buffer, len);
u3_rx_len = 0;
__enable_irq();
RF433_SendPacket(PROTO_TYPE_485, temp_buf3, len);
}
ModbusRTU_Master_Task();
#endif
// (B) I/O 状态监控与变化上报 (Type 0x10)
@ -384,11 +370,13 @@ int main(void)
}
#endif
#if HEARTBEAT_PACKET
// (C) 30秒系统心跳包 (Type 0xAA)
#if USE_IO_MONITOR
#if USE_IO_MONITOR
if (HAL_GetTick() - g_last_hb_tick >= 30000) {
g_last_hb_tick = HAL_GetTick();
uint8_t hb_payload[7];
uint8_t hb_payload[8];
uint8_t io_state = IO_Monitor_GetAllStates();
#if USE_W5500
@ -413,6 +401,7 @@ int main(void)
#endif
hb_payload[5] = (uint8_t)(modbus_val >> 8);
hb_payload[6] = (uint8_t)(modbus_val & 0xFF);
hb_payload[7] = ModbusRTU_GetAlarmState();
g_hb_seq++;
@ -420,6 +409,9 @@ int main(void)
}
#endif
#endif
#if USE_W5500
ModbusTCP_Client_Task();
#endif
@ -490,11 +482,7 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
HAL_UART_Receive_IT(&huart1, &rf433_uart_rx_tmp, 1);
}
else if (huart->Instance == USART3) {
/* 🚀 核心生效区：只有当单片机没有在发送数据时（度过屏蔽期），才允许接收 */
if (HAL_GetTick() >= u3_ignore_until) {
if (u3_rx_len < sizeof(u3_rx_buffer)) u3_rx_buffer[u3_rx_len++] = uart3_rx_byte;
u3_last_rx_time = HAL_GetTick();
}
ModbusRTU_FeedRxByte(uart3_rx_byte);
HAL_UART_Receive_IT(&huart3, &uart3_rx_byte, 1);
}
else if (huart->Instance == USART2) {
@ -533,16 +521,8 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
}
else if (huart->Instance == USART2)
{
/* 调用UART2打印模块的发送完成回调 */
UART2_Print_TxCpltCallback();
}
else if (huart->Instance == USART3)
{
/* 调用多UART路由器的UART3发送完成回调 */
MultiUART_TxCpltCallback(PORT_RS485);
}
}
/* USER CODE END 4 */

195
Core/Src/modbus_rtu_master.c Normal file
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@ -0,0 +1,195 @@
#include "modbus_rtu_master.h"
#include "usart.h"
#include "main.h"
#include <string.h>
static const uint16_t crc16_table[256] = {
0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
};
typedef enum {
MB_STATE_IDLE,
MB_STATE_WAIT_POLL,
MB_STATE_WAIT_RESPONSE,
MB_STATE_PROCESS
} mb_state_t;
static mb_state_t mb_state = MB_STATE_IDLE;
static uint32_t mb_state_tick = 0;
static uint32_t mb_last_poll_tick = 0;
static uint32_t ignore_echo_until = 0;
static uint8_t mb_rx_buf[MODBUS_RTU_MAX_RX_BUF];
static uint8_t mb_rx_idx = 0;
static uint32_t mb_rx_last_byte_tick = 0;
static uint8_t mb_alarm_state = 0;
static uint8_t mb_alarm_last = 0xFF;
static uint16_t mb_reg_val = 0;
static uint16_t modbus_crc16(const uint8_t *data, uint16_t len)
{
uint16_t crc = 0xFFFF;
for (uint16_t i = 0; i < len; i++) {
crc = (crc >> 8) ^ crc16_table[(crc ^ data[i]) & 0xFF];
}
return crc;
}
static uint8_t extract_alarm_bits(uint16_t reg)
{
uint8_t alarm = 0;
if (NORIS_FIRE_ALARM(reg)) alarm |= (1 << 0);
if (NORIS_DOOR_ALARM(reg)) alarm |= (1 << 1);
if (NORIS_BILGE_ALARM(reg)) alarm |= (1 << 2);
if (NORIS_GAS_ALARM(reg)) alarm |= (1 << 3);
return alarm;
}
static void send_modbus_request(void)
{
uint8_t tx[8];
tx[0] = MODBUS_RTU_SLAVE_ADDR;
tx[1] = 0x03;
tx[2] = (uint8_t)(MODBUS_RTU_TARGET_REG >> 8);
tx[3] = (uint8_t)(MODBUS_RTU_TARGET_REG & 0xFF);
tx[4] = (uint8_t)(MODBUS_RTU_REG_QTY >> 8);
tx[5] = (uint8_t)(MODBUS_RTU_REG_QTY & 0xFF);
uint16_t crc = modbus_crc16(tx, 6);
tx[6] = (uint8_t)(crc & 0xFF);
tx[7] = (uint8_t)(crc >> 8);
ignore_echo_until = HAL_GetTick() + MODBUS_RTU_TX_ECHO_MARGIN;
mb_rx_idx = 0;
HAL_UART_Transmit(&huart3, tx, 8, HAL_MAX_DELAY);
}
static bool parse_modbus_response(void)
{
if (mb_rx_idx < 5) return false;
if (mb_rx_buf[0] != MODBUS_RTU_SLAVE_ADDR) return false;
if (mb_rx_buf[1] != 0x03) return false;
uint8_t byte_count = mb_rx_buf[2];
if (byte_count != (MODBUS_RTU_REG_QTY * 2)) return false;
uint16_t expected_len = 3 + byte_count + 2;
if (mb_rx_idx < expected_len) return false;
uint16_t crc_received = (uint16_t)mb_rx_buf[expected_len - 2]
| ((uint16_t)mb_rx_buf[expected_len - 1] << 8);
uint16_t crc_calc = modbus_crc16(mb_rx_buf, expected_len - 2);
if (crc_received != crc_calc) return false;
mb_reg_val = ((uint16_t)mb_rx_buf[3] << 8) | mb_rx_buf[4];
return true;
}
void ModbusRTU_Master_Init(void)
{
mb_state = MB_STATE_IDLE;
mb_state_tick = HAL_GetTick();
mb_last_poll_tick = HAL_GetTick();
mb_rx_idx = 0;
mb_alarm_state = 0;
mb_alarm_last = 0xFF;
mb_reg_val = 0;
ignore_echo_until = 0;
}
void ModbusRTU_Master_Task(void)
{
switch (mb_state) {
case MB_STATE_IDLE:
if ((int32_t)(HAL_GetTick() - mb_last_poll_tick) >= MODBUS_RTU_POLL_INTERVAL) {
mb_last_poll_tick = HAL_GetTick();
mb_state = MB_STATE_WAIT_POLL;
mb_state_tick = HAL_GetTick();
}
break;
case MB_STATE_WAIT_POLL:
send_modbus_request();
mb_state = MB_STATE_WAIT_RESPONSE;
mb_state_tick = HAL_GetTick();
break;
case MB_STATE_WAIT_RESPONSE:
if (mb_rx_idx > 0 && (int32_t)(HAL_GetTick() - mb_rx_last_byte_tick) > MODBUS_RTU_INTER_CHAR_TIMEOUT) {
mb_state = MB_STATE_PROCESS;
break;
}
if ((int32_t)(HAL_GetTick() - mb_state_tick) > MODBUS_RTU_RESP_TIMEOUT) {
mb_state = MB_STATE_IDLE;
}
break;
case MB_STATE_PROCESS:
if (parse_modbus_response()) {
mb_alarm_state = extract_alarm_bits(mb_reg_val);
if (mb_alarm_state != mb_alarm_last) {
if (mb_alarm_last != 0xFF) {
extern void RF433_SendPacket(uint8_t type, const uint8_t *payload, uint8_t len);
RF433_SendPacket(PROTO_TYPE_MODBUS_RTU, &mb_alarm_state, 1);
}
mb_alarm_last = mb_alarm_state;
}
}
mb_state = MB_STATE_IDLE;
break;
default:
mb_state = MB_STATE_IDLE;
break;
}
}
void ModbusRTU_FeedRxByte(uint8_t byte)
{
if (HAL_GetTick() < ignore_echo_until) return;
if (mb_state != MB_STATE_WAIT_RESPONSE) return;
if (mb_rx_idx >= MODBUS_RTU_MAX_RX_BUF) return;
mb_rx_buf[mb_rx_idx++] = byte;
mb_rx_last_byte_tick = HAL_GetTick();
}
uint8_t ModbusRTU_GetAlarmState(void)
{
return mb_alarm_state;
}

2
Core/Src/usart.c
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@ -100,7 +100,7 @@ void MX_USART3_UART_Init(void)
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
huart3.Init.BaudRate = 4800; /* 从 9600 修改为 115200 */
huart3.Init.BaudRate = 19200;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;