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base: edison:0bc39b79445563646f9b2e6948fc3c3c8d1cb330
Branches Tags
edison:main edison:feature/modbus-rtu-master edison:enable_listen_before_tx
edison:v2026.05.28
...
compare: edison:d2c3c6c8cb76254f5d1c07650d7a2903aba7c930
Branches Tags
edison:feature/modbus-rtu-master edison:main edison:enable_listen_before_tx
edison:v2026.05.28

3 Commits
0bc39b7944 ... d2c3c6c8cb

Author SHA1 Message Date
zouhaitao
d2c3c6c8cb remove invalid Windows reserved filename 'nul' 2026-05-27 18:35:36 +08:00
zouhaitao
984be481c9 优化 Modbus RTU 报文说明文档 2026-05-27 18:32:21 +08:00
zouhaitao
5318c35d37 feat: RS485透传改为Modbus RTU Master轮询寄存器41161报警信号 2026-05-27 17:15:57 +08:00
17 changed files with 479 additions and 4373 deletions
Expand all files Collapse all files

7
Core/Inc/main.h
View File

@@ -74,6 +74,10 @@ extern "C" {
// | 月
// 年
#ifndef HEARTBEAT_PACKET
#define HEARTBEAT_PACKET 1 /* 启用心跳包上报 */
#endif
#ifndef USE_W5500
#define USE_W5500 1 /* 默认启用W5500以太网模块 */
#endif
@@ -93,13 +97,14 @@ extern "C" {
#define PROTO_TYPE_IO 0x10
#define PROTO_TYPE_NET 0x55
#define PROTO_TYPE_485 0x48
#define PROTO_TYPE_MODBUS_RTU 0x4D
#define PROTO_TYPE_HB 0xAA
/* =========================================================
🚀 核心身份标识：烧录不同设备时，请务必修改这个数字！
比如：设备A烧录时改为 0x01，设备B烧录时改为 0x02
========================================================= */
#define MY_DEVICE_ID 101
#define MY_DEVICE_ID 105
/* =========================================================
🚀 开发调试开关

34
Core/Inc/modbus_rtu_master.h Normal file
View File

@@ -0,0 +1,34 @@
#ifndef __MODBUS_RTU_MASTER_H
#define __MODBUS_RTU_MASTER_H
#ifdef __cplusplus
extern "C" {
#endif
#include "stm32f1xx_hal.h"
#define MODBUS_RTU_SLAVE_ADDR 1
#define MODBUS_RTU_TARGET_REG 1160
#define MODBUS_RTU_REG_QTY 1
#define MODBUS_RTU_POLL_INTERVAL 1000
#define MODBUS_RTU_RESP_TIMEOUT 500
#define MODBUS_RTU_INTER_CHAR_TIMEOUT 10
#define MODBUS_RTU_TX_ECHO_MARGIN 10
#define NORIS_FIRE_ALARM(reg) (((reg) >> 4) & 0x01)
#define NORIS_DOOR_ALARM(reg) (((reg) >> 5) & 0x01)
#define NORIS_BILGE_ALARM(reg) (((reg) >> 6) & 0x01)
#define NORIS_GAS_ALARM(reg) (((reg) >> 7) & 0x01)
#define MODBUS_RTU_MAX_RX_BUF 64
void ModbusRTU_Master_Init(void);
void ModbusRTU_Master_Task(void);
void ModbusRTU_FeedRxByte(uint8_t byte);
uint8_t ModbusRTU_GetAlarmState(void);
#ifdef __cplusplus
}
#endif
#endif

2
Core/Inc/modbus_tcp_client.h
View File

@@ -14,7 +14,7 @@
/* Modbus TCP 配置 */
#if TEST_A701
#define MODBUS_SERVER_IP {192, 168, 0, 6} /* A701 测试服务器 */
#define MODBUS_SERVER_IP {192, 168, 6, 156} /* A701 测试服务器 */
#else
#define MODBUS_SERVER_IP {192, 168, 0, 1} /* 现场生产服务器 */
#endif

3
Core/Src/cmd_router.c
View File

@@ -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>

50
Core/Src/main.c
View File

@@ -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 (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
View File

@@ -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
View File

@@ -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;

4404
MDK-ARM/JLinkLog.txt
View File

File diff suppressed because it is too large Load Diff

6
MDK-ARM/RTE/_project/RTE_Components.h
View File

@@ -1,7 +1,6 @@
/*
* Auto generated Run-Time-Environment Component Configuration File
* *** Do not modify ! ***
* UVISION generated file: DO NOT EDIT!
* Generated by: uVision version 5.43.1.0
*
* Project: 'project'
* Target: 'project'
@@ -17,4 +16,5 @@
#define CMSIS_device_header "stm32f10x.h"
#endif /* RTE_COMPONENTS_H */

30
MDK-ARM/project.uvprojx
View File

@@ -10,14 +10,14 @@
<TargetName>project</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060750::V5.06 update 6 (build 750)::ARMCC</pCCUsed>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32F103C8</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
<PackURL>http://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32F1xx_DFP.2.4.1</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<Cpu>IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3") TZ</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
@@ -184,6 +184,9 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>0</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<nBranchProt>0</nBranchProt>
<hadIRAM2>0</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
@@ -350,7 +353,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<uClangAs>0</uClangAs>
<ClangAsOpt>4</ClangAsOpt>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@@ -528,14 +531,9 @@
<FilePath>..\Core\Src\multi_uart_router.c</FilePath>
</File>
<File>
<FileName>uart3_passthrough.c</FileName>
<FileName>modbus_rtu_master.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\uart3_passthrough.c</FilePath>
</File>
<File>
<FileName>uart3_protocol_discriminator.c</FileName>
<FileType>1</FileType>
<FilePath>..\Core\Src\uart3_protocol_discriminator.c</FilePath>
<FilePath>..\Core\Src\modbus_rtu_master.c</FilePath>
</File>
<File>
<FileName>tim.c</FileName>
@@ -785,4 +783,14 @@
<files/>
</RTE>
<LayerInfo>
<Layers>
<Layer>
<LayName>project</LayName>
<LayTarg>0</LayTarg>
<LayPrjMark>1</LayPrjMark>
</Layer>
</Layers>
</LayerInfo>
</Project>

3
MDK-ARM/project/project.lnp
View File

@@ -17,8 +17,7 @@
"project\cmd_router.o"
"project\debug_log.o"
"project\multi_uart_router.o"
"project\uart3_passthrough.o"
"project\uart3_protocol_discriminator.o"
"project\modbus_rtu_master.o"
"project\tim.o"
"project\stm32f1xx_hal_gpio_ex.o"
"project\stm32f1xx_hal_spi.o"

1
MDK-ARM/project/project.sct
View File

@@ -7,6 +7,7 @@ LR_IROM1 0x08000000 0x00010000 { ; load region size_region
*.o (RESET, +First)
*(InRoot$$Sections)
.ANY (+RO)
.ANY (+XO)
}
RW_IRAM1 0x20000000 0x00005000 { ; RW data
.ANY (+RW +ZI)

1
MDK-ARM/project/project_sct.Bak
View File

@@ -7,7 +7,6 @@ LR_IROM1 0x08000000 0x00010000 { ; load region size_region
*.o (RESET, +First)
*(InRoot$$Sections)
.ANY (+RO)
.ANY (+XO)
}
RW_IRAM1 0x20000000 0x00005000 { ; RW data
.ANY (+RW +ZI)

10
MDK-ARM/startup_stm32f103xb.lst
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@@ -461,11 +461,11 @@ ARM Macro Assembler Page 8
Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
ork --depend=project\startup_stm32f103xb.d -oproject\startup_stm32f103xb.o -I.\
RTE\_project -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\5.4.0\CMSIS\Core\Include -IC:\Keil
_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SE
TA 1" --predefine="__UVISION_VERSION SETA 525" --predefine="_RTE_ SETA 1" --pre
define="STM32F10X_MD SETA 1" --list=startup_stm32f103xb.lst startup_stm32f103xb
.s
RTE\_project -IC:\Users\xtell\AppData\Local\Arm\Packs\ARM\CMSIS\6.2.0\CMSIS\Cor
e\Include -IC:\Users\xtell\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.1\Dev
ice\Include --predefine="__MICROLIB SETA 1" --predefine="__UVISION_VERSION SETA
543" --predefine="STM32F10X_MD SETA 1" --predefine="_RTE_ SETA 1" --list=start
up_stm32f103xb.lst startup_stm32f103xb.s

99
Modbus_RTU报文 Normal file
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@@ -0,0 +1,99 @@
Modbus RTU 报文说明
1. 请求帧（MCU → Noris AMS）
发送示例：01 03 04 88 00 01 C5 D3
字节偏移 值 含义
0 01 从站地址 = 1
1 03 功能码 = Read Holding Registers
2-3 04 88 寄存器起始地址 = 0x0488 = 1160（对应 Noris 41161）
4-5 00 01 读取数量 = 1 个寄存器
6-7 C5 D3 CRC16-Modbus 校验（低字节在前）
帧长度：8 字节
发送间隔：每 1000ms 发送一次
发送方式：HAL_UART_Transmit() 阻塞发送，@19200bps 约 4.2ms
2. 正常响应帧（Noris AMS → MCU）
示例：01 03 02 00 F0 B8 47
字节偏移 值 含义
0 01 从站地址 = 1
1 03 功能码 = 03（正常响应）
2 02 数据字节数 = 2（1个寄存器×2字节）
3-4 00 F0 寄存器值 = 0x00F0（大端序）
5-6 B8 47 CRC16-Modbus 校验
帧长度：7 字节
3. 寄存器值 → 报警映射
寄存器 41161 值为 0x00F0 时（Bit4-7 全为 1）：
Bit: 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 0 1 1 1 1 0 0 0 0
↑ ↑ ↑ ↑
│ │ │ └─ Bit4: 火灾综合报警 (Fire)
│ │ └──── Bit5: 水密门综合报警 (Door)
│ └─────── Bit6: 舱底水综合报警 (Bilge)
└────────── Bit7: 气体检测综合报警 (Gas)
提取后映射到紧凑报警字节：
位 1-based偏移 0-based偏移
Bit5 (手册) >>4 >>5
Bit6 (手册) >>5 >>6
Bit7 (手册) >>6 >>7
Bit8 (手册) >>7 >>8xian
当前代码按 1-based 偏移 4/5/6/7 实现。
4. 报警状态 → RF433 数据包
4a. 变化通知包（Type 0x4D）
报警状态变化时立即发送：
示例：AA 4D 03 69 0F [SUM]
字节 值 含义
0 AA 帧头
1 4D 协议类型 = Modbus RTU 报警
2 03 LEN = ID(1) + Payload(1) + SUM(1)
3 69 设备ID = 105
4 0F 报警状态字节（见下表）
5 SUM Sum8 校验和
报警字节 0x0F 各位含义：
Bit: 7 6 5 4 3 2 1 0
0 0 0 0 1 1 1 1
↑ ↑ ↑ ↑
│ │ │ └─ 火灾报警
│ │ └──── 水密门报警
│ └─────── 舱底水报警
└────────── 气体检测报警
4b. 心跳包（Type 0xAA，扩展后 8 字节载荷）
示例：AA AA 0A 69 [Seq_H] [Seq_L] [FW_H] [FW_L] [IO] [TCP_H] [TCP_L] [RTU] [SUM]
字节偏移 含义 说明
0 AA 帧头
1 AA 协议类型 = 心跳
2 0A LEN = 10
3 69 设备ID = 105
4-5 Seq 序列号（16-bit 大端）
6-7 FW 固件版本码
8 IO IO状态（Bit0-3=DI1-4, Bit7=网口连接）
9-10 TCP Modbus TCP 最后寄存器值
11 RTU Modbus RTU 报警状态（新增）
12 SUM Sum8 校验和
5. 异常响应帧（参考）
如果从站返回异常：
01 83 02 C0 F1
字节 值 含义
0 01 从站地址
1 83 功能码 + 0x80（异常标志）
2 02 异常码 = 02（非法寄存器地址）
3-4 CRC 校验
当前代码：异常响应的 FC ≠ 0x03，会被 parse_modbus_response() 的 mb_rx_buf[1] != 0x03 判断拦截，静默丢弃。
6. 时序图
时间轴 (ms)
0 1000 2000 3000
│ │ │ │
├─ TX: 请求帧(8B, ~4ms)
│ (发送后屏蔽回波10ms)
├─ RX: 响应帧(7B, ~3.6ms) ─┤
│ ├─ 解析+变化检测
│ ├─ 变化? → RF433发送
│ │
│ ├─ TX: 请求帧
│ ├─ RX: 响应帧
│ ├─ 解析
│ │
│ │ ├─ TX: 请求帧
│ │ ├─ 超时500ms无响应
│ │ ├─ 回IDLE，下次重试
│ │ │ ├─ TX: 请求帧
│ │ │ ├─ RX: 响应帧
│ │ │ ├─ 解析
每秒一个完整轮询周期：发送(~4ms) + 等响应(~10ms) + 解析(<1ms) ≈ 15ms，其余 985ms 空闲。

2
User/user_main/user_main.c
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@@ -18,7 +18,7 @@
wiz_NetInfo default_net_info = {
.mac = {0x00, 0x08, 0xdc, 0x12, 0x22, 0x12},
#if TEST_A701
.ip = {192, 168, 0, 212},
.ip = {192, 168, 6, 212},
.gw = {192, 168, 0, 1},
#else
.ip = {192, 168, 0, 5},

1
docs/.~lock.多功能巡逻船阀门遥控系统 通讯协议（至无人值守系统）20260509.xlsx# Normal file
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@@ -0,0 +1 @@
,DESKTOP-0S8JI7H/xtell,DESKTOP-0S8JI7H,12.05.2026 14:51,file:///C:/Users/xtell/AppData/Roaming/LibreOffice/4;