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feature/mo
| Author | SHA1 | Date | |
|---|---|---|---|
| 9a4fb66b51 | |||
| f56367b9b3 | |||
| d2c3c6c8cb | |||
| 984be481c9 | |||
| 5318c35d37 | |||
| 0bc39b7944 | |||
| 7171f11534 | |||
| aed62f7bb4 | |||
| 485fb32a72 | |||
| ee67076ec7 | |||
| 6e2b13dbb3 | |||
| 6c56fe8a60 | |||
| 878379f101 |
@ -48,7 +48,36 @@ extern "C" {
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/* Exported macro ------------------------------------------------------------*/
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/* USER CODE BEGIN EM */
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/* 硬件模块启用/禁用宏定义 */
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// 基准年份
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#define XTELL_BASE_YEAR 2026
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/**
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* 宏定义：3-4-5-4 固件版本编码
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* y: Year (2026-2033)
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* m: Month (1-12)
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* d: Day (1-31)
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* b: Build (0-15)
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*/
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#define MAKE_XTELL_CODE(y, m, d, b) ( \
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((( (y) - XTELL_BASE_YEAR ) & 0x07) << 13) | \
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(((m) & 0x0F) << 9) | \
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(((d) & 0x1F) << 4) | \
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(((b) & 0x0F) << 0) \
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)
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// 举例：2026年3月19日，第10次编译 (b=9)
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// 计算过程: (0 << 13) | (3 << 9) | (19 << 4) | 9 = 0x0600 | 0x0130 | 0x0009
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#define XTELL_FIRMWARE_CODE MAKE_XTELL_CODE(2026, 5, 28, 1)
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// ---- - -- -
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// | | | |
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// | | | 编译次数
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// | | 日
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// | 月
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// 年
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#ifndef HEARTBEAT_PACKET
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#define HEARTBEAT_PACKET 1 /* 启用心跳包上报 */
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#endif
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#ifndef USE_W5500
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#define USE_W5500 1 /* 默认启用W5500以太网模块 */
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#endif
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@ -56,11 +85,35 @@ extern "C" {
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#ifndef USE_RS485
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#define USE_RS485 1 /* 默认启用RS485通信模块 */
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#endif
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#ifndef USE_IO_MONITOR
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#define USE_IO_MONITOR 1 /* 启用IO监控与心跳上报 */
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#endif
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/* =========================================================
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🚀 核心协议常量定义 (RF433)
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========================================================= */
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#define PROTO_START_BYTE 0xAA
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#define PROTO_TYPE_IO 0x10
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#define PROTO_TYPE_NET 0x55
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#define PROTO_TYPE_485 0x48
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#define PROTO_TYPE_MODBUS_RTU 0x4D
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#define PROTO_TYPE_HB 0xAA
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/* =========================================================
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🚀 核心身份标识：烧录不同设备时，请务必修改这个数字！
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比如：设备A烧录时改为 0x01，设备B烧录时改为 0x02
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========================================================= */
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#define MY_DEVICE_ID 0x01
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#define MY_DEVICE_ID 105
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/* =========================================================
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🚀 开发调试开关
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TEST_A701:
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- 1: 测试环境 (A701室/本地测试)，使用 192.168.6.x 网段
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- 0: 生产环境 (实船/现场部署)，使用 192.168.0.x 网段
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========================================================= */
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#define TEST_A701 0
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/* USER CODE END EM */
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/* Exported functions prototypes ---------------------------------------------*/
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143
Core/Inc/modbus_rtu_master.h
Normal file
143
Core/Inc/modbus_rtu_master.h
Normal file
@ -0,0 +1,143 @@
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/**
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******************************************************************************
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* @file modbus_rtu_master.h
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* @brief Modbus RTU Master 模块头文件
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* @note 本模块通过 RS485 (UART3) 以 Modbus RTU 协议轮询 Noris AMS 从站设备，
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* 读取寄存器 41161 (偏移地址 1160) 中的报警状态，
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* 提取 Bit4-7 (火灾/水密门/舱底水/气体检测) 映射为紧凑报警字节。
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*
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* 报警状态供 main.c 中的两种上报机制使用：
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* 1. 变化通知 (Type 0x10): 报警状态变化时，通过 PROTO_TYPE_IO 上报，
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* 格式与原 DI 变化通知完全一致，上位机代码无需修改。
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* 2. 心跳包 (Type 0xAA): 每 30 秒定时上报当前报警状态。
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*
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* @version 1.1
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******************************************************************************
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*/
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#ifndef __MODBUS_RTU_MASTER_H
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#define __MODBUS_RTU_MASTER_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "stm32f1xx_hal.h"
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/* ================================================================
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* Modbus RTU 通信参数配置
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* 修改以下宏定义可适配不同的从站设备和通信需求
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* ================================================================ */
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/** 从站设备地址 (Noris AMS 默认地址 = 1) */
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#define MODBUS_RTU_SLAVE_ADDR 1
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/** 目标寄存器偏移地址 (1160 对应 Noris 协议中的寄存器 41161) */
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#define MODBUS_RTU_TARGET_REG 1160
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/** 单次读取的寄存器数量 (当前只读取 1 个报警寄存器) */
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#define MODBUS_RTU_REG_QTY 1
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/** 轮询间隔 (毫秒)，每隔此时间发送一次 Read Holding Registers 请求 */
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#define MODBUS_RTU_POLL_INTERVAL 1000
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/** 响应超时 (毫秒)，发送请求后等待从站响应的最长时间，超时则丢弃本次轮询 */
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#define MODBUS_RTU_RESP_TIMEOUT 500
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/** 帧内字符间隔超时 (毫秒)，接收过程中两个相邻字节的最大间隔时间，
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* 超过此时间认为一帧数据接收完成 */
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#define MODBUS_RTU_INTER_CHAR_TIMEOUT 10
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/** 发送回波屏蔽时间 (毫秒)，UART3 发送后屏蔽自身回波的时间窗口，
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* 防止将自身发送的数据误判为从站响应 */
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#define MODBUS_RTU_TX_ECHO_MARGIN 10
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/* ================================================================
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* Noris AMS 报警位提取宏
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* 从 16 位寄存器值中提取各个报警标志位
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*
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* 寄存器 41161 的位布局:
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* Bit4: 火灾综合报警 (Fire)
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* Bit5: 水密门综合报警 (Door)
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* Bit6: 舱底水综合报警 (Bilge)
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* Bit7: 气体检测综合报警 (Gas)
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*
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* 提取后映射到紧凑报警字节:
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* Bit0 ← Bit4 (火灾)
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* Bit1 ← Bit5 (水密门)
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* Bit2 ← Bit6 (舱底水)
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* Bit3 ← Bit7 (气体检测)
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* ================================================================ */
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/** 提取火灾综合报警 (寄存器 Bit4) */
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#define NORIS_FIRE_ALARM(reg) (((reg) >> 4) & 0x01)
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/** 提取水密门综合报警 (寄存器 Bit5) */
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#define NORIS_DOOR_ALARM(reg) (((reg) >> 5) & 0x01)
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/** 提取舱底水综合报警 (寄存器 Bit6) */
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#define NORIS_BILGE_ALARM(reg) (((reg) >> 6) & 0x01)
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/** 提取气体检测综合报警 (寄存器 Bit7) */
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#define NORIS_GAS_ALARM(reg) (((reg) >> 7) & 0x01)
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/* ================================================================
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* 接收缓冲区配置
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* ================================================================ */
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/** Modbus RTU 接收缓冲区最大长度 (字节)，
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* 正常响应帧为 7 字节，64 字节足够容纳各种响应 */
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#define MODBUS_RTU_MAX_RX_BUF 64
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/* ================================================================
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* 公共函数接口
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* ================================================================ */
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/**
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* @brief Modbus RTU Master 模块初始化
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* @note 在系统启动时调用，将状态机重置为 IDLE 状态，
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* 清空接收缓冲区和报警状态变量
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* @retval 无
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*/
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void ModbusRTU_Master_Init(void);
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/**
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* @brief Modbus RTU Master 主任务函数
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* @note 在主循环中周期性调用，实现状态机驱动的轮询逻辑:
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* IDLE → WAIT_POLL → WAIT_RESPONSE → PROCESS → IDLE
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*
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* 状态说明:
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* - IDLE: 等待轮询间隔到达 (1000ms)
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* - WAIT_POLL: 发送 Modbus RTU 请求帧
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* - WAIT_RESPONSE: 等待从站响应或超时
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* - PROCESS: 解析响应帧，提取寄存器值和报警位
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*
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* @retval 无
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*/
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void ModbusRTU_Master_Task(void);
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/**
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* @brief 向 Modbus RTU 接收缓冲区送入一个字节
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* @note 在 UART3 接收中断回调中调用 (HAL_UART_RxCpltCallback)，
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* 仅在 WAIT_RESPONSE 状态且不在回波屏蔽期内才接收数据
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* @param byte: 从 UART3 接收到的原始字节
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* @retval 无
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*/
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void ModbusRTU_FeedRxByte(uint8_t byte);
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/**
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* @brief 获取当前 Modbus RTU 报警状态
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* @note 返回紧凑报警字节，位定义如下:
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* Bit0: 火灾报警
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* Bit1: 水密门报警
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* Bit2: 舱底水报警
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* Bit3: 气体检测报警
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* @retval 报警状态字节 (uint8_t)
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*/
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uint8_t ModbusRTU_GetAlarmState(void);
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#ifdef __cplusplus
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}
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#endif
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#endif
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55
Core/Inc/modbus_tcp_client.h
Normal file
55
Core/Inc/modbus_tcp_client.h
Normal file
@ -0,0 +1,55 @@
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/**
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******************************************************************************
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* @file modbus_tcp_client.h
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* @brief Modbus TCP 客户端模块头文件 (基于 W5500)
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******************************************************************************
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*/
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#ifndef __MODBUS_TCP_CLIENT_H
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#define __MODBUS_TCP_CLIENT_H
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#include <stdint.h>
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#include <stdbool.h>
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#include "main.h"
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/* Modbus TCP 配置 */
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#if TEST_A701
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#define MODBUS_SERVER_IP {192, 168, 6, 156} /* A701 测试服务器 */
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#else
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#define MODBUS_SERVER_IP {192, 168, 0, 1} /* 现场生产服务器 */
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#endif
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#define MODBUS_SERVER_PORT 502
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#define MODBUS_UNIT_ID 1
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#define MODBUS_POLL_INTERVAL 2000 /* 轮询间隔 (ms) */
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/* 寄存器定义 */
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#define TARGET_REG_ADDR 30 /* 逻辑 40031 */
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/* 客户端状态枚举 */
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typedef enum {
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MODBUS_STATE_IDLE,
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MODBUS_STATE_CONNECTING,
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MODBUS_STATE_SEND_QUERY,
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MODBUS_STATE_WAIT_RESPONSE,
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MODBUS_STATE_ERROR_RETRY
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} modbus_client_state_t;
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/**
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* @brief 初始化 Modbus TCP 客户端
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* @param sn: W5500 Socket 编号
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*/
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void ModbusTCP_Client_Init(uint8_t sn);
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/**
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* @brief Modbus TCP 客户端任务处理 (主循环调用)
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*/
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void ModbusTCP_Client_Task(void);
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/**
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* @brief 获取最新成功读取的 Modbus 寄存器值
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* @retval 16位寄存器值 (未读到时默认返回 0xFFFF)
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*/
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uint16_t ModbusTCP_Get_LastRegVal(void);
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#endif
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@ -31,9 +31,9 @@ extern "C" {
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#define UART_TX_BUFFER_SIZE 256
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typedef enum {
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PORT_UART1 = 0,
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PORT_UART2 = 1,
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PORT_UART3 = 2,
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PORT_433 = 0, /* UART1 */
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PORT_DEBUG = 1, /* UART2 */
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PORT_RS485 = 2, /* UART3 */
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PORT_COUNT
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} port_id_t;
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@ -64,6 +64,8 @@ typedef struct {
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uint32_t tx_count;
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uint32_t error_count;
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bool initialized;
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volatile bool csma_backoff_active;
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volatile uint32_t csma_backoff_until;
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} uart_port_context_t;
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void MultiUART_Init(void);
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@ -89,6 +91,7 @@ uint16_t MultiUART_ReadByte(port_id_t port_id, uint8_t *byte);
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uint16_t MultiUART_GetTxAvailable(port_id_t port_id);
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uint32_t MultiUART_GetOverflowCount(port_id_t port_id);
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bool MultiUART_IsBusy(uint8_t port_id);
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#ifdef __cplusplus
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}
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@ -28,9 +28,6 @@
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#include "uart2_print.h"
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#include "debug_log.h"
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#include "data_source.h"
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#include "uart3_protocol_discriminator.h"
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#include "uart3_protocol_discriminator.h"
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#include "uart3_passthrough.h"
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#include "uart3_smart_router_config.h"
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#include <string.h>
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@ -113,7 +110,7 @@ static uint32_t g_routed_count = 0;
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* @brief 当前正在解析的端口ID
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* @note 用于在多端口环境下跟踪当前处理哪个端口的数据
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*/
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static uint8_t g_current_parsing_port = PORT_UART2;
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static uint8_t g_current_parsing_port = PORT_DEBUG;
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/**
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* @brief 接收原始字节日志缓冲区
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@ -275,7 +272,7 @@ static void cmd_parser_response_callback(uint8_t source_port, const char *respon
|
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* 1. 重置所有端口的解析状态
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* 2. 清零所有日志缓冲区
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* 3. 重置统计计数器
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* 4. 设置默认解析端口为PORT_UART2
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* 4. 设置默认解析端口为PORT_DEBUG
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* 5. 注册响应回调函数到解析器
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*/
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void CmdRouter_Init(void)
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@ -299,7 +296,7 @@ void CmdRouter_Init(void)
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g_response_handler = NULL;
|
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g_processed_count = 0;
|
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g_routed_count = 0;
|
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g_current_parsing_port = PORT_UART2;
|
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g_current_parsing_port = PORT_DEBUG;
|
||||
|
||||
/*----------------------------------------------------------
|
||||
* 注册响应回调函数
|
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@ -348,7 +345,7 @@ void CmdRouter_Task(void)
|
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* 第一阶段：UART1处理(保持原有逻辑)
|
||||
*----------------------------------------------------------*/
|
||||
{
|
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port_id_t port_id = PORT_UART1;
|
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port_id_t port_id = PORT_433;
|
||||
|
||||
uint16_t rx_count = MultiUART_GetRxCount(port_id);
|
||||
|
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@ -380,11 +377,11 @@ void CmdRouter_Task(void)
|
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LOG_DEBUG("UART3", "Protocol state: %d", UART3_Protocol_GetState());
|
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uint8_t byte;
|
||||
|
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while (MultiUART_ReadByte(PORT_UART3, &byte) > 0) {
|
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while (MultiUART_ReadByte(PORT_RS485, &byte) > 0) {
|
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route_result_t route = UART3_Protocol_FeedByte(byte, current_tick);
|
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switch (route) {
|
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case ROUTE_CMD:
|
||||
CmdParser_SetSourcePort(PORT_UART3);
|
||||
CmdParser_SetSourcePort(PORT_RS485);
|
||||
CmdParser_FeedByte(byte, current_tick);
|
||||
LOG_DEBUG("UART3", "CMD byte: 0x%02X", byte);
|
||||
break;
|
||||
@ -422,7 +419,7 @@ void CmdRouter_Task(void)
|
||||
int appended = snprintf(msg + msg_len, sizeof(msg) - msg_len, "*%02X\r\n", cs);
|
||||
LOG_DEBUG("UART3", "Constructed message: %s", msg);
|
||||
// 发送ASCII消息
|
||||
MultiUART_SendString(PORT_UART1, msg);
|
||||
MultiUART_SendString(PORT_433, msg);
|
||||
LOG_INFO("UART3", "PASSTHROUGH: %d bytes sent as ASCII message", (int)length);
|
||||
} else {
|
||||
LOG_DEBUG("UART3", "No passthrough data");
|
||||
@ -433,7 +430,7 @@ void CmdRouter_Task(void)
|
||||
}
|
||||
#else
|
||||
{
|
||||
port_id_t port_id = PORT_UART3;
|
||||
port_id_t port_id = PORT_RS485;
|
||||
|
||||
uint16_t rx_count = MultiUART_GetRxCount(port_id);
|
||||
|
||||
@ -461,7 +458,7 @@ void CmdRouter_Task(void)
|
||||
* 第三阶段：检查各端口日志缓冲区的超时状态
|
||||
*----------------------------------------------------------*/
|
||||
for (port_id_t port_id = 0; port_id < PORT_COUNT; port_id++) {
|
||||
if (port_id == PORT_UART2) {
|
||||
if (port_id == PORT_DEBUG) {
|
||||
continue;
|
||||
}
|
||||
|
||||
|
||||
@ -144,6 +144,6 @@ void DebugLog_Output(log_level_t level, const char *module, const char *fmt, ...
|
||||
|
||||
if (len > 0) {
|
||||
UART2_Print_Send((const uint8_t *)buffer, len);
|
||||
MultiUART_Send(PORT_UART3, (const uint8_t *)buffer, len); /* 增加：同时将日志发给 UART3 */
|
||||
// MultiUART_Send(PORT_RS485, (const uint8_t *)buffer, len); /* 增加：同时将日志发给 RS485 */
|
||||
}
|
||||
}
|
||||
|
||||
@ -213,7 +213,7 @@ static void send_di_event(uint8_t channel, uint8_t state)
|
||||
memcpy(&rf_tx_buf[2], msg, msg_len); // 把真正的 DI 消息塞到第 2 个字节后面
|
||||
|
||||
/* 将带 ID 的完整包裹发送给 433 模块 */
|
||||
MultiUART_Send(PORT_UART1, rf_tx_buf, msg_len + 2);
|
||||
MultiUART_Send(PORT_433, rf_tx_buf, msg_len + 2);
|
||||
/* ========================================================== */
|
||||
|
||||
DEBUG_LOG("RF433 TX: \"%s\"", msg);
|
||||
@ -261,8 +261,8 @@ void IO_Monitor_Init(void)
|
||||
|
||||
/* 初始化扫描时间戳为0，确保首次扫描立即执行 */
|
||||
last_scan_tick = 0;
|
||||
/* 使能自动上报功能 */
|
||||
report_enabled = true;
|
||||
/* 禁用旧的自动上报功能，改用 main.c 中的新协议上报 */
|
||||
report_enabled = false;
|
||||
|
||||
/* 输出初始化完成日志，显示初始各通道状态掩码 */
|
||||
DEBUG_LOG("Init OK, initial states: 0x%02X", IO_Monitor_GetAllStates());
|
||||
|
||||
250
Core/Src/main.c
250
Core/Src/main.c
@ -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"
|
||||
@ -47,6 +50,7 @@
|
||||
#include "wiz_interface.h"
|
||||
#include "wizchip_conf.h"
|
||||
#include "loopback.h"
|
||||
#include "modbus_tcp_client.h"
|
||||
#endif
|
||||
extern void wiz_timer_handler(void);
|
||||
#if (RF433_MODE == RF433_MODE_TX) || (RF433_MODE == RF433_MODE_BOTH)
|
||||
@ -85,15 +89,89 @@ 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) 增加这三行！=== */
|
||||
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 */
|
||||
static uint8_t g_last_alarm_state = 0xFF; /* 上次 Modbus RTU 报警状态，用于变化检测 */
|
||||
|
||||
/* === W5500 外部变量声明 === */
|
||||
#if USE_W5500
|
||||
extern uint16_t local_port;
|
||||
extern uint8_t ethernet_buf[];
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief 判断单片机与 433 模块连接的串口是否正忙于传输
|
||||
* @return bool: true=串口引擎忙(需避让), false=串口空闲
|
||||
*/
|
||||
bool RF433_UART_Is_Busy(void)
|
||||
{
|
||||
// 仅查询 UART1 的引擎状态，不关心模块 AUX
|
||||
return MultiUART_IsBusy(PORT_433);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 计算并发送 RF433 协议数据包
|
||||
|
||||
* @param type: 协议类型 (0x10, 0x55, 0x48, 0xAA)
|
||||
* @param payload: 载荷数据指针
|
||||
* @param len: 载荷长度
|
||||
*/
|
||||
void RF433_SendPacket(uint8_t type, const uint8_t *payload, uint8_t len)
|
||||
{
|
||||
uint8_t frame[260];
|
||||
uint16_t frame_idx = 0;
|
||||
uint8_t checksum = 0;
|
||||
|
||||
frame[frame_idx++] = PROTO_START_BYTE; // AA
|
||||
frame[frame_idx++] = type; // TYPE
|
||||
frame[frame_idx++] = (uint8_t)(len + 1 + 1); // LEN (ID + Payload + SUM)
|
||||
frame[frame_idx++] = MY_DEVICE_ID; // ID
|
||||
|
||||
if (len > 0 && payload != NULL) {
|
||||
memcpy(&frame[frame_idx], payload, len);
|
||||
frame_idx += len;
|
||||
}
|
||||
|
||||
/* 计算校验和 (Sum8) */
|
||||
for (uint16_t i = 0; i < frame_idx; i++) {
|
||||
checksum += frame[i];
|
||||
}
|
||||
frame[frame_idx++] = checksum;
|
||||
|
||||
/* 通过 MultiUART 发送 */
|
||||
MultiUART_Send(PORT_433, frame, frame_idx);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 检查 433 无线信道是否忙碌 (发送保护区)
|
||||
* @return bool: true=忙碌(需避让), false=空闲
|
||||
*/
|
||||
bool RF433_Is_Air_Busy(void)
|
||||
{
|
||||
return (HAL_GPIO_ReadPin(AUX_GPIO_Port, AUX_Pin) == GPIO_PIN_RESET);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 读取当前 4 路 DI 的合并状态
|
||||
* @return uint8_t: Bit0-3 对应 DI1-4
|
||||
*/
|
||||
uint8_t IO_Get_Current_State(void)
|
||||
{
|
||||
uint8_t state = 0;
|
||||
if (HAL_GPIO_ReadPin(MCU_DI1_GPIO_Port, MCU_DI1_Pin) == GPIO_PIN_SET) state |= (1 << 0);
|
||||
if (HAL_GPIO_ReadPin(MCU_DI2_GPIO_Port, MCU_DI2_Pin) == GPIO_PIN_SET) state |= (1 << 1);
|
||||
if (HAL_GPIO_ReadPin(MCU_DI3_GPIO_Port, MCU_DI3_Pin) == GPIO_PIN_SET) state |= (1 << 2);
|
||||
if (HAL_GPIO_ReadPin(MCU_DI4_GPIO_Port, MCU_DI4_Pin) == GPIO_PIN_SET) state |= (1 << 3);
|
||||
return state;
|
||||
}
|
||||
|
||||
/* W5500 variables */
|
||||
#if USE_W5500
|
||||
#define SOCKET_ID 0
|
||||
#ifndef ETHERNET_BUF_MAX_SIZE
|
||||
#define ETHERNET_BUF_MAX_SIZE 2048
|
||||
#endif
|
||||
static uint8_t ethernet_buf[ETHERNET_BUF_MAX_SIZE] = {0};
|
||||
static uint16_t local_port = 8000;
|
||||
#endif
|
||||
@ -169,6 +247,7 @@ 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 */
|
||||
@ -185,8 +264,16 @@ int main(void)
|
||||
|
||||
printf("[DEBUG] 4. 进入 network_init()\r\n");
|
||||
network_init(ethernet_buf, &default_net_info);
|
||||
printf("[DEBUG] 5. network_init() 成功返回!\r\n");
|
||||
printf("wizchip UDP example started\r\n");
|
||||
printf("[DEBUG] 5. network_init() 成功返回!\n");
|
||||
|
||||
printf("--- Socket Status Diagnostic ---\n");
|
||||
for (int i=0; i<8; i++) {
|
||||
printf("Socket %d SR: 0x%02X\n", i, getSn_SR(i));
|
||||
}
|
||||
printf("--------------------------------\n");
|
||||
|
||||
printf("Modbus TCP Client starting\n");
|
||||
ModbusTCP_Client_Init(1); // 暂时使用 Socket 1 进行测试，避开可能被污染的 Socket 0
|
||||
#endif
|
||||
/* ======================================= */
|
||||
|
||||
@ -229,9 +316,9 @@ int main(void)
|
||||
rf433_rx_app_task();
|
||||
#endif
|
||||
|
||||
/* W5500 UDP回环任务 */
|
||||
/* W5500 UDP回环任务（为了测试 PING 功能，放到了单独的 Socket 2） */
|
||||
#if USE_W5500
|
||||
loopback_udps(SOCKET_ID, ethernet_buf, local_port);
|
||||
loopback_udps(2, ethernet_buf, local_port);
|
||||
#endif
|
||||
|
||||
|
||||
@ -240,96 +327,87 @@ int main(void)
|
||||
/* USER CODE BEGIN WHILE */
|
||||
while (1)
|
||||
{
|
||||
/* === 1. 恢复系统的核心驱动引擎 === */
|
||||
/* === 1. 核心通信驱动引擎 (最高优先级) === */
|
||||
UART2_Print_Task();
|
||||
MultiUART_Task();
|
||||
IO_Monitor_Task();
|
||||
|
||||
/* === 2. 网络轮询任务 === */
|
||||
#if USE_W5500
|
||||
loopback_udps(SOCKET_ID, ethernet_buf, local_port);
|
||||
#endif
|
||||
|
||||
/* === 3. 极速无乱码透传 === */
|
||||
|
||||
/* === 方案 A：从 433 收到无线数据 -> 给上位机解析 === */
|
||||
/* === 2. 无线接收透传 (433 -> Debug) === */
|
||||
#if (RF433_MODE == RF433_MODE_RX) || (RF433_MODE == RF433_MODE_BOTH)
|
||||
if (u1_rx_len > 0 && (HAL_GetTick() - u1_last_rx_time > 20))
|
||||
{
|
||||
static uint8_t temp_buf1[256];
|
||||
__disable_irq();
|
||||
uint16_t len = u1_rx_len;
|
||||
memcpy(temp_buf1, (uint8_t*)u1_rx_buffer, len);
|
||||
u1_rx_len = 0;
|
||||
__enable_irq();
|
||||
|
||||
/* 🚀 终极上位机协议：[0xAA帧头] + [设备ID] + [来源接口] + [数据长度] + [纯净数据] */
|
||||
if (len >= 2 && temp_buf1[0] == 0xAA)
|
||||
MultiUART_Send(PORT_DEBUG, (uint8_t*)u1_rx_buffer, len);
|
||||
}
|
||||
#endif
|
||||
|
||||
/* === 3. 核心发送保护区 (TX 优先调度) === */
|
||||
// 只有当我们单片机正在往 433 模块灌数时，才进行避让
|
||||
// 只要单片机串口引擎一空闲，主循环就立刻开始处理后续采集任务
|
||||
if (RF433_UART_Is_Busy()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
/* === 4. 实时数据采集与上报 (仅在非发射状态运行) === */
|
||||
|
||||
// (A) Modbus RTU 轮询任务
|
||||
#if USE_RS485
|
||||
ModbusRTU_Master_Task();
|
||||
#endif
|
||||
|
||||
// (B) Modbus RTU 报警状态变化上报 (Type 0x10，与原 DI 格式兼容)
|
||||
#if USE_RS485
|
||||
{
|
||||
uint8_t sender_id = temp_buf1[1];
|
||||
uint16_t payload_len = len - 2;
|
||||
uint8_t* payload_data = &temp_buf1[2];
|
||||
|
||||
/* 默认 0x03 为 RS485 透传数据 */
|
||||
uint8_t source_type = 0x03;
|
||||
|
||||
/* 判断是不是 $DI 标签 */
|
||||
if (payload_len >= 3 && payload_data[0] == '$' && payload_data[1] == 'D' && payload_data[2] == 'I')
|
||||
{
|
||||
source_type = 0x01; /* 也是 DI 口数据，但不砍标签了，直接全发过去 */
|
||||
}
|
||||
/* 判断是不是网口 [NET] 标签 */
|
||||
else if (payload_len >= 5 && payload_data[0] == '[' && payload_data[1] == 'N' && payload_data[2] == 'E' && payload_data[3] == 'T' && payload_data[4] == ']')
|
||||
{
|
||||
source_type = 0x02; /* 0x02 代表是 网络口 收到的数据 */
|
||||
payload_data += 5; /* 砍掉 "[NET]" 标签 */
|
||||
payload_len -= 5;
|
||||
}
|
||||
/* ========================================================== */
|
||||
|
||||
if (payload_len > 0) {
|
||||
/* 重新组装终极协议帧 */
|
||||
uint8_t upper_buf[260];
|
||||
upper_buf[0] = 0xAA; // Byte 0: 魔法帧头
|
||||
upper_buf[1] = sender_id; // Byte 1: 发送设备 ID
|
||||
upper_buf[2] = source_type; // Byte 2: 数据来源 (1=DI, 2=NET, 3=485)
|
||||
upper_buf[3] = (uint8_t)payload_len; // Byte 3: 真实数据长度
|
||||
memcpy(&upper_buf[4], payload_data, payload_len); // Byte 4~末尾: 绝对纯净的数据
|
||||
|
||||
/* 发送给 485 和电脑上位机 */
|
||||
MultiUART_Send(PORT_UART3, upper_buf, payload_len + 4);
|
||||
MultiUART_Send(PORT_UART2, upper_buf, payload_len + 4);
|
||||
uint8_t alarm_state = ModbusRTU_GetAlarmState();
|
||||
if (alarm_state != g_last_alarm_state) {
|
||||
if (g_last_alarm_state != 0xFF) {
|
||||
g_last_alarm_state = alarm_state;
|
||||
RF433_SendPacket(PROTO_TYPE_IO, &alarm_state, 1);
|
||||
} else {
|
||||
g_last_alarm_state = alarm_state;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 普通无帧头干扰数据，按原样透传 */
|
||||
MultiUART_Send(PORT_UART3, temp_buf1, len);
|
||||
MultiUART_Send(PORT_UART2, temp_buf1, len);
|
||||
}
|
||||
#endif
|
||||
|
||||
/* === 方案 B：从 485 收到设备数据 -> 穿上包装(附加ID) -> 通过 433 无线发射 === */
|
||||
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();
|
||||
|
||||
/* 🚀 制作“快递包”：在最前面加上 [0xAA] 和 [本机ID] */
|
||||
static uint8_t rf_tx_buf[515];
|
||||
rf_tx_buf[0] = 0xAA; // 贴上魔法帧头
|
||||
rf_tx_buf[1] = MY_DEVICE_ID; // 贴上本机的身份证号
|
||||
memcpy(&rf_tx_buf[2], temp_buf3, len); // 把 485 收到的真实数据塞进后面
|
||||
#if HEARTBEAT_PACKET
|
||||
// (C) 30秒系统心跳包 (Type 0xAA)
|
||||
if (HAL_GetTick() - g_last_hb_tick >= 30000) {
|
||||
g_last_hb_tick = HAL_GetTick();
|
||||
uint8_t hb_payload[7];
|
||||
|
||||
/* 把带有身份证的完整包裹，通过 433 发射到空气中 */
|
||||
MultiUART_Send(PORT_UART1, rf_tx_buf, len + 2);
|
||||
hb_payload[0] = (uint8_t)(g_hb_seq >> 8);
|
||||
hb_payload[1] = (uint8_t)(g_hb_seq & 0xFF);
|
||||
|
||||
hb_payload[2] = (uint8_t)(XTELL_FIRMWARE_CODE >> 8);
|
||||
hb_payload[3] = (uint8_t)(XTELL_FIRMWARE_CODE & 0xFF);
|
||||
|
||||
hb_payload[4] = ModbusRTU_GetAlarmState();
|
||||
|
||||
uint16_t modbus_val = 0xFFFF;
|
||||
#if USE_W5500
|
||||
modbus_val = ModbusTCP_Get_LastRegVal();
|
||||
#endif
|
||||
hb_payload[5] = (uint8_t)(modbus_val >> 8);
|
||||
hb_payload[6] = (uint8_t)(modbus_val & 0xFF);
|
||||
|
||||
g_hb_seq++;
|
||||
|
||||
RF433_SendPacket(PROTO_TYPE_HB, hb_payload, sizeof(hb_payload));
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#if USE_W5500
|
||||
ModbusTCP_Client_Task();
|
||||
#endif
|
||||
|
||||
/* USER CODE END WHILE */
|
||||
}
|
||||
}
|
||||
}
|
||||
/* USER CODE END 3 */
|
||||
/**
|
||||
@ -394,11 +472,7 @@ 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) {
|
||||
@ -433,20 +507,12 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
|
||||
if (huart->Instance == USART1)
|
||||
{
|
||||
/* 调用多UART路由器的UART1发送完成回调 */
|
||||
MultiUART_TxCpltCallback(PORT_UART1);
|
||||
MultiUART_TxCpltCallback(PORT_433);
|
||||
}
|
||||
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_UART3);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
/* USER CODE END 4 */
|
||||
|
||||
380
Core/Src/modbus_rtu_master.c
Normal file
380
Core/Src/modbus_rtu_master.c
Normal file
@ -0,0 +1,380 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file modbus_rtu_master.c
|
||||
* @brief Modbus RTU Master 模块实现
|
||||
* @note 本模块通过 RS485 (UART3) 以 Modbus RTU 协议轮询 Noris AMS 从站，
|
||||
* 读取寄存器 41161 中的报警状态位，并提取为紧凑报警字节。
|
||||
*
|
||||
* 工作原理:
|
||||
* 1. 每 1000ms 发送一次 Read Holding Registers (FC=0x03) 请求
|
||||
* 2. 等待从站响应，支持帧内字符超时检测和响应总超时
|
||||
* 3. 解析响应帧并进行 CRC16 校验
|
||||
* 4. 从寄存器值中提取 Bit4-7 的报警位，映射为紧凑报警字节
|
||||
* 5. 报警状态由 main.c 负责上报 (变化通知 + 心跳包)
|
||||
*
|
||||
* 状态机流转:
|
||||
* IDLE → WAIT_POLL → WAIT_RESPONSE → PROCESS → IDLE
|
||||
*
|
||||
* @version 1.1
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
#include "modbus_rtu_master.h"
|
||||
#include "usart.h"
|
||||
#include "main.h"
|
||||
#include <string.h>
|
||||
|
||||
/* ================================================================
|
||||
* CRC16-Modbus 查找表 (256 项)
|
||||
* 多项式: 0xA001 (反转形式)，初始值: 0xFFFF
|
||||
* 用于 Modbus RTU 帧的 CRC 校验计算，采用查表法加速运算
|
||||
* ================================================================ */
|
||||
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
|
||||
};
|
||||
|
||||
/* ================================================================
|
||||
* 状态机枚举定义
|
||||
* Modbus RTU Master 使用四状态状态机驱动轮询过程
|
||||
* ================================================================ */
|
||||
|
||||
/**
|
||||
* @brief Modbus RTU 轮询状态机状态枚举
|
||||
* - MB_STATE_IDLE: 空闲状态，等待轮询间隔到达
|
||||
* - MB_STATE_WAIT_POLL: 准备发送，立即发送请求帧
|
||||
* - MB_STATE_WAIT_RESPONSE: 已发送请求，等待从站响应
|
||||
* - MB_STATE_PROCESS: 帧接收完成，解析响应数据
|
||||
*/
|
||||
typedef enum {
|
||||
MB_STATE_IDLE,
|
||||
MB_STATE_WAIT_POLL,
|
||||
MB_STATE_WAIT_RESPONSE,
|
||||
MB_STATE_PROCESS
|
||||
} mb_state_t;
|
||||
|
||||
/* ================================================================
|
||||
* 模块内部静态变量
|
||||
* ================================================================ */
|
||||
|
||||
/** 当前状态机状态 */
|
||||
static mb_state_t mb_state = MB_STATE_IDLE;
|
||||
|
||||
/** 当前状态的进入时刻 (用于超时判断) */
|
||||
static uint32_t mb_state_tick = 0;
|
||||
|
||||
/** 上一次轮询的时刻 (用于计算轮询间隔) */
|
||||
static uint32_t mb_last_poll_tick = 0;
|
||||
|
||||
/** 回波屏蔽截止时间 (发送后忽略自身回波的时间点) */
|
||||
static uint32_t ignore_echo_until = 0;
|
||||
|
||||
/** 接收缓冲区: 存储从站响应的原始字节 */
|
||||
static uint8_t mb_rx_buf[MODBUS_RTU_MAX_RX_BUF];
|
||||
|
||||
/** 接收缓冲区当前写入索引 */
|
||||
static uint8_t mb_rx_idx = 0;
|
||||
|
||||
/** 最后一次接收到字节的时刻 (用于帧间超时判断) */
|
||||
static uint32_t mb_rx_last_byte_tick = 0;
|
||||
|
||||
/** 当前报警状态字节 (紧凑格式，Bit0-3 对应 4 种报警) */
|
||||
static uint8_t mb_alarm_state = 0;
|
||||
|
||||
/** 上一次报警状态 (用于变化检测，初始值 0xFF 表示首次轮询) */
|
||||
static uint8_t mb_alarm_last = 0xFF;
|
||||
|
||||
/** 最近一次成功读取的寄存器原始值 (16-bit，大端序解析) */
|
||||
static uint16_t mb_reg_val = 0;
|
||||
|
||||
/* ================================================================
|
||||
* 内部静态函数实现
|
||||
* ================================================================ */
|
||||
|
||||
/**
|
||||
* @brief 计算 Modbus CRC16 校验值
|
||||
* @note 采用查表法，多项式 0xA001，初始值 0xFFFF
|
||||
* CRC16-Modbus 算法: 低字节在前 (Little-Endian)
|
||||
* @param data: 待计算的数据缓冲区指针
|
||||
* @param len: 数据长度 (字节)
|
||||
* @retval CRC16 校验值
|
||||
*/
|
||||
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;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 从 16 位寄存器值中提取报警位，映射为紧凑报警字节
|
||||
* @note 映射关系:
|
||||
* 寄存器 Bit4 → 报警字节 Bit0 (火灾)
|
||||
* 寄存器 Bit5 → 报警字节 Bit1 (水密门)
|
||||
* 寄存器 Bit6 → 报警字节 Bit2 (舱底水)
|
||||
* 寄存器 Bit7 → 报警字节 Bit3 (气体检测)
|
||||
* @param reg: 16 位寄存器原始值
|
||||
* @retval 紧凑报警字节 (Bit0-3 有效)
|
||||
*/
|
||||
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;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 构造并发送 Modbus RTU Read Holding Registers 请求帧
|
||||
* @note 帧格式: [从站地址][FC=0x03][起始地址H][起始地址L][数量H][数量L][CRC_L][CRC_H]
|
||||
* 发送完成后设置回波屏蔽窗口，并清空接收缓冲区
|
||||
* @retval 无
|
||||
*/
|
||||
static void send_modbus_request(void)
|
||||
{
|
||||
uint8_t tx[8];
|
||||
|
||||
/* 构造请求帧 PDU */
|
||||
tx[0] = MODBUS_RTU_SLAVE_ADDR; /* 从站地址 */
|
||||
tx[1] = 0x03; /* 功能码: Read Holding Registers */
|
||||
tx[2] = (uint8_t)(MODBUS_RTU_TARGET_REG >> 8); /* 寄存器起始地址高字节 */
|
||||
tx[3] = (uint8_t)(MODBUS_RTU_TARGET_REG & 0xFF); /* 寄存器起始地址低字节 */
|
||||
tx[4] = (uint8_t)(MODBUS_RTU_REG_QTY >> 8); /* 读取数量高字节 */
|
||||
tx[5] = (uint8_t)(MODBUS_RTU_REG_QTY & 0xFF); /* 读取数量低字节 */
|
||||
|
||||
/* 计算并附加 CRC16 (低字节在前) */
|
||||
uint16_t crc = modbus_crc16(tx, 6);
|
||||
tx[6] = (uint8_t)(crc & 0xFF); /* CRC 低字节 */
|
||||
tx[7] = (uint8_t)(crc >> 8); /* CRC 高字节 */
|
||||
|
||||
/* 设置回波屏蔽窗口: 发送后 MODBUS_RTU_TX_ECHO_MARGIN 毫秒内忽略接收数据 */
|
||||
ignore_echo_until = HAL_GetTick() + MODBUS_RTU_TX_ECHO_MARGIN;
|
||||
|
||||
/* 清空接收缓冲区，准备接收新响应 */
|
||||
mb_rx_idx = 0;
|
||||
|
||||
/* 通过 UART3 (RS485) 阻塞发送请求帧 */
|
||||
HAL_UART_Transmit(&huart3, tx, 8, HAL_MAX_DELAY);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 解析 Modbus RTU 响应帧
|
||||
* @note 校验流程:
|
||||
* 1. 最小帧长度检查 (≥5 字节: 地址 + FC + 字节数 + CRC×2)
|
||||
* 2. 从站地址匹配检查
|
||||
* 3. 功能码检查 (FC=0x03 为正常响应，FC=0x83 为异常响应，静默丢弃)
|
||||
* 4. 数据字节数与期望值匹配检查
|
||||
* 5. 实际帧长度与期望长度匹配检查
|
||||
* 6. CRC16 校验
|
||||
* 7. 提取寄存器值 (大端序)
|
||||
* @retval true: 解析成功，mb_reg_val 已更新
|
||||
* false: 解析失败 (帧不完整/地址不匹配/CRC错误等)
|
||||
*/
|
||||
static bool parse_modbus_response(void)
|
||||
{
|
||||
/* 检查最小帧长度: 地址(1) + FC(1) + 字节数(1) + CRC(2) = 5 */
|
||||
if (mb_rx_idx < 5) return false;
|
||||
|
||||
/* 检查从站地址是否匹配 */
|
||||
if (mb_rx_buf[0] != MODBUS_RTU_SLAVE_ADDR) return false;
|
||||
|
||||
/* 检查功能码是否为 0x03 (正常响应); 0x83 为异常响应，静默丢弃 */
|
||||
if (mb_rx_buf[1] != 0x03) return false;
|
||||
|
||||
/* 检查数据字节数是否与期望值匹配 (寄存器数量 × 2) */
|
||||
uint8_t byte_count = mb_rx_buf[2];
|
||||
if (byte_count != (MODBUS_RTU_REG_QTY * 2)) return false;
|
||||
|
||||
/* 计算期望帧总长度: 地址(1) + FC(1) + 字节数(1) + 数据 + CRC(2) */
|
||||
uint16_t expected_len = 3 + byte_count + 2;
|
||||
if (mb_rx_idx < expected_len) return false;
|
||||
|
||||
/* 提取并验证 CRC16 (低字节在前) */
|
||||
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;
|
||||
|
||||
/* 提取寄存器值 (大端序: 高字节在前) */
|
||||
mb_reg_val = ((uint16_t)mb_rx_buf[3] << 8) | mb_rx_buf[4];
|
||||
return true;
|
||||
}
|
||||
|
||||
/* ================================================================
|
||||
* 公共函数实现
|
||||
* ================================================================ */
|
||||
|
||||
/**
|
||||
* @brief Modbus RTU Master 模块初始化
|
||||
* @note 将状态机重置为 IDLE 状态，清空所有缓冲区和状态变量。
|
||||
* mb_alarm_last 初始化为 0xFF，使得首次轮询结果不会触发变化通知
|
||||
* (main.c 中通过 g_last_alarm_state == 0xFF 判断跳过首次上报)
|
||||
*/
|
||||
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;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Modbus RTU Master 主任务函数
|
||||
* @note 在主循环中周期性调用，驱动四状态轮询状态机:
|
||||
*
|
||||
* IDLE: 等待轮询间隔 (MODBUS_RTU_POLL_INTERVAL = 1000ms)
|
||||
* 间隔到达后切换到 WAIT_POLL
|
||||
*
|
||||
* WAIT_POLL: 立即发送 Modbus RTU 请求帧
|
||||
* 发送完成后切换到 WAIT_RESPONSE
|
||||
*
|
||||
* WAIT_RESPONSE: 等待从站响应
|
||||
* - 帧内字符超时到达 → 切换到 PROCESS 解析
|
||||
* - 响应总超时到达 → 丢弃本次，回到 IDLE
|
||||
*
|
||||
* PROCESS: 解析响应帧
|
||||
* - 解析成功 → 更新 mb_alarm_state
|
||||
* - 解析失败 → 静默丢弃
|
||||
* 处理完成后回到 IDLE
|
||||
*
|
||||
* 报警变化上报由 main.c 负责，本模块仅更新 mb_alarm_state
|
||||
*/
|
||||
void ModbusRTU_Master_Task(void)
|
||||
{
|
||||
switch (mb_state) {
|
||||
|
||||
/* ---- 空闲状态: 等待轮询间隔到达 ---- */
|
||||
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;
|
||||
|
||||
/* ---- 准备发送状态: 构造并发送请求帧 ---- */
|
||||
case MB_STATE_WAIT_POLL:
|
||||
send_modbus_request();
|
||||
mb_state = MB_STATE_WAIT_RESPONSE;
|
||||
mb_state_tick = HAL_GetTick();
|
||||
break;
|
||||
|
||||
/* ---- 等待响应状态: 等待从站响应或超时 ---- */
|
||||
case MB_STATE_WAIT_RESPONSE:
|
||||
/* 帧内字符超时: 已接收数据且最后一个字节之后超过间隔时间，
|
||||
* 认为一帧数据接收完成 */
|
||||
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;
|
||||
}
|
||||
/* 响应总超时: 自发送请求后超过 MODBUS_RTU_RESP_TIMEOUT 仍未收到完整帧，
|
||||
* 丢弃本次轮询，回到 IDLE 等待下次 */
|
||||
if ((int32_t)(HAL_GetTick() - mb_state_tick) > MODBUS_RTU_RESP_TIMEOUT) {
|
||||
mb_state = MB_STATE_IDLE;
|
||||
}
|
||||
break;
|
||||
|
||||
/* ---- 处理状态: 解析响应帧，更新报警状态 ---- */
|
||||
case MB_STATE_PROCESS:
|
||||
if (parse_modbus_response()) {
|
||||
/* 解析成功: 从寄存器值提取报警位 */
|
||||
mb_alarm_state = extract_alarm_bits(mb_reg_val);
|
||||
if (mb_alarm_state != mb_alarm_last) {
|
||||
/* 报警状态发生变化，更新记录值 */
|
||||
mb_alarm_last = mb_alarm_state;
|
||||
}
|
||||
}
|
||||
/* 无论解析成功与否，回到 IDLE 等待下一次轮询 */
|
||||
mb_state = MB_STATE_IDLE;
|
||||
break;
|
||||
|
||||
/* ---- 异常兜底: 未知状态强制回到 IDLE ---- */
|
||||
default:
|
||||
mb_state = MB_STATE_IDLE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 向 Modbus RTU 接收缓冲区送入一个字节
|
||||
* @note 在 UART3 接收中断回调中调用 (HAL_UART_RxCpltCallback → huart3 分支)
|
||||
*
|
||||
* 数据过滤逻辑:
|
||||
* 1. 回波屏蔽: 发送请求后 MODBUS_RTU_TX_ECHO_MARGIN 毫秒内的数据全部丢弃，
|
||||
* 避免将自身发送的请求帧回波误判为从站响应
|
||||
* 2. 状态过滤: 仅在 WAIT_RESPONSE 状态下接收数据，
|
||||
* 其他状态收到的数据直接丢弃
|
||||
* 3. 缓冲区溢出保护: 接收索引超过缓冲区大小时停止写入
|
||||
*
|
||||
* @param byte: 从 UART3 接收到的原始字节
|
||||
* @retval 无
|
||||
*/
|
||||
void ModbusRTU_FeedRxByte(uint8_t byte)
|
||||
{
|
||||
/* 屏蔽发送回波 */
|
||||
if (HAL_GetTick() < ignore_echo_until) return;
|
||||
|
||||
/* 仅在等待响应状态下接收 */
|
||||
if (mb_state != MB_STATE_WAIT_RESPONSE) return;
|
||||
|
||||
/* 缓冲区溢出保护 */
|
||||
if (mb_rx_idx >= MODBUS_RTU_MAX_RX_BUF) return;
|
||||
|
||||
/* 存入缓冲区并更新时间戳 */
|
||||
mb_rx_buf[mb_rx_idx++] = byte;
|
||||
mb_rx_last_byte_tick = HAL_GetTick();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 获取当前 Modbus RTU 报警状态
|
||||
* @note 供 main.c 中的以下场景调用:
|
||||
* 1. 变化通知: 与上次状态比较，变化时通过 PROTO_TYPE_IO (0x10) 上报
|
||||
* 2. 心跳包: 每 30 秒将当前报警状态填入心跳 payload
|
||||
* @retval 紧凑报警字节:
|
||||
* Bit0 = 火灾报警 (对应寄存器 Bit4)
|
||||
* Bit1 = 水密门报警 (对应寄存器 Bit5)
|
||||
* Bit2 = 舱底水报警 (对应寄存器 Bit6)
|
||||
* Bit3 = 气体检测报警 (对应寄存器 Bit7)
|
||||
*/
|
||||
uint8_t ModbusRTU_GetAlarmState(void)
|
||||
{
|
||||
return mb_alarm_state;
|
||||
}
|
||||
182
Core/Src/modbus_tcp_client.c
Normal file
182
Core/Src/modbus_tcp_client.c
Normal file
@ -0,0 +1,182 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @file modbus_tcp_client.c
|
||||
* @brief Modbus TCP 客户端模块实现 (针对寄存器 40031 轮询)
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
#include "modbus_tcp_client.h"
|
||||
#include "socket.h"
|
||||
#include "wizchip_conf.h"
|
||||
#include "main.h"
|
||||
#include "debug_log.h"
|
||||
#include <string.h>
|
||||
|
||||
/* 私有变量 */
|
||||
static uint8_t g_sn = 0;
|
||||
static modbus_client_state_t g_state = MODBUS_STATE_IDLE;
|
||||
static uint32_t g_last_tick = 0;
|
||||
static uint16_t g_transaction_id = 0;
|
||||
|
||||
/* 保存最新的寄存器值，用于心跳上报和变化检测 */
|
||||
static uint16_t s_last_reg_val = 0xFFFF;
|
||||
|
||||
uint16_t ModbusTCP_Get_LastRegVal(void)
|
||||
{
|
||||
return s_last_reg_val;
|
||||
}
|
||||
|
||||
/* 服务器信息 */
|
||||
static uint8_t dest_ip[4] = MODBUS_SERVER_IP;
|
||||
static uint16_t dest_port = MODBUS_SERVER_PORT;
|
||||
|
||||
/**
|
||||
* @brief 构造 Modbus TCP 请求包 (FC 03)
|
||||
*/
|
||||
static uint16_t build_read_request(uint8_t *buf, uint16_t addr, uint16_t qty)
|
||||
{
|
||||
g_transaction_id++;
|
||||
|
||||
/* MBAP Header */
|
||||
buf[0] = (uint8_t)(g_transaction_id >> 8);
|
||||
buf[1] = (uint8_t)(g_transaction_id & 0xFF);
|
||||
buf[2] = 0x00; /* Protocol ID (0 for Modbus) */
|
||||
buf[3] = 0x00;
|
||||
buf[4] = 0x00; /* Length (6 bytes follow UnitID) */
|
||||
buf[5] = 0x06;
|
||||
buf[6] = MODBUS_UNIT_ID;
|
||||
|
||||
/* PDU */
|
||||
buf[7] = 0x03; /* Function Code: Read Holding Registers */
|
||||
buf[8] = (uint8_t)(addr >> 8);
|
||||
buf[9] = (uint8_t)(addr & 0xFF);
|
||||
buf[10] = (uint8_t)(qty >> 8);
|
||||
buf[11] = (uint8_t)(qty & 0xFF);
|
||||
|
||||
return 12;
|
||||
}
|
||||
|
||||
void ModbusTCP_Client_Init(uint8_t sn)
|
||||
{
|
||||
g_sn = sn;
|
||||
g_state = MODBUS_STATE_IDLE;
|
||||
g_last_tick = HAL_GetTick();
|
||||
|
||||
/* 动态重新加载配置，防止静态初始化带来的宏定义未生效问题 */
|
||||
uint8_t ip[4] = MODBUS_SERVER_IP;
|
||||
dest_ip[0] = ip[0]; dest_ip[1] = ip[1]; dest_ip[2] = ip[2]; dest_ip[3] = ip[3];
|
||||
dest_port = MODBUS_SERVER_PORT;
|
||||
|
||||
LOG_INFO("MODBUS", "Client initialized on Socket %d, Target: %d.%d.%d.%d:%d",
|
||||
sn, dest_ip[0], dest_ip[1], dest_ip[2], dest_ip[3], dest_port);
|
||||
}
|
||||
|
||||
void ModbusTCP_Client_Task(void)
|
||||
{
|
||||
uint8_t tmp_buf[128]; // 临时接收缓存
|
||||
uint16_t len; // 接收长度
|
||||
int32_t ret; // 返回值
|
||||
|
||||
switch (g_state) // 客户端状态机切换
|
||||
{
|
||||
case MODBUS_STATE_IDLE: // 空闲状态
|
||||
if (HAL_GetTick() - g_last_tick >= MODBUS_POLL_INTERVAL) { // 检查轮询间隔 (2秒)
|
||||
g_state = MODBUS_STATE_CONNECTING; // 切换到连接状态
|
||||
}
|
||||
break;
|
||||
|
||||
case MODBUS_STATE_CONNECTING: // 连接中状态
|
||||
{
|
||||
uint8_t sr = getSn_SR(g_sn);
|
||||
switch(sr) // 获取当前 Socket 状态
|
||||
{
|
||||
case SOCK_CLOSED: // 如果 Socket 已关闭
|
||||
// 打开 TCP 模式的 Socket，分配随机本地端口以避免冲突
|
||||
if (socket(g_sn, Sn_MR_TCP, 50000 + (HAL_GetTick() % 10000), 0x00) == g_sn) {
|
||||
LOG_DEBUG("MODBUS", "Socket opened");
|
||||
}
|
||||
break;
|
||||
|
||||
case SOCK_INIT: // Socket 初始化成功，开始连接
|
||||
LOG_INFO("MODBUS", "Connecting to %d.%d.%d.%d:%d",
|
||||
dest_ip[0], dest_ip[1], dest_ip[2], dest_ip[3], dest_port);
|
||||
ret = connect(g_sn, dest_ip, dest_port); // 发起连接请求
|
||||
if (ret != SOCK_OK) {
|
||||
LOG_ERROR("MODBUS", "Connect failed: %d", ret);
|
||||
close(g_sn);
|
||||
g_state = MODBUS_STATE_IDLE;
|
||||
g_last_tick = HAL_GetTick();
|
||||
}
|
||||
break;
|
||||
|
||||
case SOCK_ESTABLISHED: // 连接已建立
|
||||
LOG_INFO("MODBUS", "TCP Connected!");
|
||||
g_state = MODBUS_STATE_SEND_QUERY; // 切换到发送请求状态
|
||||
break;
|
||||
|
||||
case SOCK_CLOSE_WAIT: // 对方已关闭连接
|
||||
disconnect(g_sn); // 本地断开连接
|
||||
break;
|
||||
|
||||
default:
|
||||
if (HAL_GetTick() % 5000 == 0) { // 每 5 秒打印一次未处理的状态
|
||||
LOG_WARN("MODBUS", "Unhandled socket state: 0x%02X", sr);
|
||||
}
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MODBUS_STATE_SEND_QUERY: // 发送查询请求状态
|
||||
len = build_read_request(tmp_buf, TARGET_REG_ADDR, 1); // 构造 Modbus TCP FC03 报文
|
||||
ret = send(g_sn, tmp_buf, len); // 发送 TCP 数据
|
||||
if (ret > 0) { // 发送成功
|
||||
LOG_DEBUG("MODBUS", "Request sent (TID: %d)", g_transaction_id);
|
||||
g_state = MODBUS_STATE_WAIT_RESPONSE; // 切换到等待响应状态
|
||||
g_last_tick = HAL_GetTick(); // 更新计时器
|
||||
} else { // 发送失败
|
||||
LOG_ERROR("MODBUS", "Send failed, reconnecting...");
|
||||
close(g_sn); // 关闭 Socket
|
||||
g_state = MODBUS_STATE_IDLE; // 返回空闲重试
|
||||
}
|
||||
break;
|
||||
|
||||
case MODBUS_STATE_WAIT_RESPONSE: // 等待响应状态
|
||||
len = getSn_RX_RSR(g_sn);
|
||||
if (len >= 9) { // 至少需要 9 字节 (MBAP 头 7 字节 + PDU 至少 2 字节)
|
||||
if (len > sizeof(tmp_buf)) len = sizeof(tmp_buf); // 防止缓存溢出
|
||||
ret = recv(g_sn, tmp_buf, len); // 接收数据
|
||||
|
||||
/* 校验响应 (检查 MBAP 长度、功能码等) */
|
||||
if (ret >= 9 && tmp_buf[7] == 0x03) { // 基本校验
|
||||
uint16_t reg_val = (tmp_buf[9] << 8) | tmp_buf[10]; // 提取寄存器值
|
||||
LOG_INFO("MODBUS", "Read Register %d OK: 0x%04X", TARGET_REG_ADDR + 40001, reg_val);
|
||||
|
||||
/* 如果检测到寄存器值发生变化，才通过 433 无线立即发送 */
|
||||
if (reg_val != s_last_reg_val) {
|
||||
s_last_reg_val = reg_val; // 更新缓存的值
|
||||
|
||||
uint8_t payload[2]; // 构造 433 负载
|
||||
payload[0] = tmp_buf[9]; // 寄存器高位
|
||||
payload[1] = tmp_buf[10]; // 寄存器低位
|
||||
RF433_SendPacket(PROTO_TYPE_NET, payload, 2); // 打包并通过无线发出
|
||||
LOG_INFO("MODBUS", "Value changed, sent over 433");
|
||||
}
|
||||
} else { // 响应格式非法
|
||||
LOG_ERROR("MODBUS", "Invalid response format");
|
||||
}
|
||||
g_state = MODBUS_STATE_IDLE; // 返回空闲
|
||||
g_last_tick = HAL_GetTick(); // 更新计时
|
||||
|
||||
} else if (HAL_GetTick() - g_last_tick > 3000) { // 等待超时 (3秒)
|
||||
LOG_WARN("MODBUS", "Response timeout");
|
||||
close(g_sn); // 关闭连接
|
||||
g_state = MODBUS_STATE_IDLE; // 返回空闲重试
|
||||
}
|
||||
break;
|
||||
|
||||
default: // 异常保护
|
||||
g_state = MODBUS_STATE_IDLE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -16,14 +16,15 @@
|
||||
* 4. 响应路由表
|
||||
*
|
||||
* 端口映射：
|
||||
* - PORT_UART1: 连接RF433无线模块(用于无线数据收发)
|
||||
* - PORT_UART2: 调试串口(用于日志和调试输出)
|
||||
* - PORT_UART3: 预留扩展端口
|
||||
* - PORT_433: 连接RF433无线模块(用于无线数据收发)
|
||||
* - PORT_DEBUG: 调试串口(用于日志和调试输出)
|
||||
* - PORT_RS485: 预留扩展端口
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
#include "multi_uart_router.h"
|
||||
#include "uart2_print.h"
|
||||
#include "main.h"
|
||||
#include <string.h>
|
||||
#include <stdarg.h>
|
||||
#include <stdio.h>
|
||||
@ -41,6 +42,16 @@
|
||||
#define DEBUG_LOG(fmt, ...)
|
||||
#endif
|
||||
|
||||
/*==============================================================================
|
||||
* CSMA/CA 随机退避相关
|
||||
*============================================================================*/
|
||||
static uint32_t csma_rand(uint32_t seed)
|
||||
{
|
||||
// static uint32_t seed = 12345;
|
||||
seed = seed * 1103515245 + 12345;
|
||||
return (seed >> 16) & 0x7FFF;
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* 全局变量定义
|
||||
*============================================================================*/
|
||||
@ -57,9 +68,9 @@ static uart_port_context_t g_port_ctx[PORT_COUNT];
|
||||
* 使用常量初始化，在编译时确定，无运行时开销
|
||||
*/
|
||||
static UART_HandleTypeDef *const g_port_uart_map[PORT_COUNT] = {
|
||||
[PORT_UART1] = &huart1, /**< RF433无线模块 */
|
||||
[PORT_UART2] = &huart2, /**< 调试串口 */
|
||||
[PORT_UART3] = &huart3, /**< 预留扩展 */
|
||||
[PORT_433] = &huart1, /**< RF433无线模块 */
|
||||
[PORT_DEBUG] = &huart2, /**< 调试串口 */
|
||||
[PORT_RS485] = &huart3, /**< 预留扩展 */
|
||||
};
|
||||
|
||||
/**
|
||||
@ -67,9 +78,9 @@ static UART_HandleTypeDef *const g_port_uart_map[PORT_COUNT] = {
|
||||
* @note 用于调试日志输出，快速获取端口的可读名称
|
||||
*/
|
||||
static const char *const g_port_name_map[PORT_COUNT] = {
|
||||
[PORT_UART1] = "UART1", /**< RF433无线模块 */
|
||||
[PORT_UART2] = "UART2", /**< 调试串口 */
|
||||
[PORT_UART3] = "UART3", /**< 预留扩展 */
|
||||
[PORT_433] = "UART1", /**< RF433无线模块 */
|
||||
[PORT_DEBUG] = "UART2", /**< 调试串口 */
|
||||
[PORT_RS485] = "UART3", /**< 预留扩展 */
|
||||
};
|
||||
|
||||
/*==============================================================================
|
||||
@ -234,7 +245,23 @@ static void tx_kickoff(port_id_t port_id)
|
||||
|
||||
__disable_irq();
|
||||
if (!ring->is_sending && ring->count > 0) {
|
||||
/* 取出下一个待发送字节 */
|
||||
if (port_id == PORT_433) {
|
||||
if (ctx->csma_backoff_active) {
|
||||
if ((int32_t)(HAL_GetTick() - ctx->csma_backoff_until) < 0) {
|
||||
__enable_irq();
|
||||
return;
|
||||
}
|
||||
ctx->csma_backoff_active = false;
|
||||
}
|
||||
|
||||
if (HAL_GPIO_ReadPin(AUX_GPIO_Port, AUX_Pin) == GPIO_PIN_RESET) {
|
||||
ctx->csma_backoff_active = true;
|
||||
ctx->csma_backoff_until = HAL_GetTick() + (csma_rand(HAL_GetTick()) % 1000) + 1;
|
||||
__enable_irq();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
byte = ring->buffer[ring->tail];
|
||||
ring->tail = (ring->tail + 1) % UART_TX_BUFFER_SIZE;
|
||||
ring->count--;
|
||||
@ -287,6 +314,10 @@ void MultiUART_Init(void)
|
||||
ctx->tx_count = 0;
|
||||
ctx->error_count = 0;
|
||||
ctx->initialized = true;
|
||||
|
||||
/* 初始化 CSMA/CA 随机退避状态 */
|
||||
ctx->csma_backoff_active = false;
|
||||
ctx->csma_backoff_until = 0;
|
||||
}
|
||||
|
||||
DEBUG_LOG("Init OK, %d ports configured", PORT_COUNT);
|
||||
@ -344,7 +375,7 @@ void MultiUART_FeedByte(port_id_t port_id, uint8_t byte)
|
||||
* 接收处理由中断完成(MultiUART_FeedByte)，此函数仅处理发送
|
||||
*
|
||||
* 端口跳过说明：
|
||||
* - 跳过PORT_UART2(调试串口)，由UART2_Print模块独立处理
|
||||
* - 跳过PORT_DEBUG(调试串口)，由UART2_Print模块独立处理
|
||||
*
|
||||
* 调用时机：
|
||||
* 建议在主循环中周期性调用(如10ms定时)
|
||||
@ -360,7 +391,7 @@ void MultiUART_Task(void)
|
||||
}
|
||||
|
||||
/* 跳过调试串口(UART2) */
|
||||
if (i == PORT_UART2) {
|
||||
if (i == PORT_DEBUG) {
|
||||
continue;
|
||||
}
|
||||
|
||||
@ -379,7 +410,7 @@ void MultiUART_Task(void)
|
||||
* @return 无
|
||||
*
|
||||
* 特殊处理：
|
||||
* - PORT_UART2直接调用UART2_Print_Send，由调试模块处理
|
||||
* - PORT_DEBUG直接调用UART2_Print_Send，由调试模块处理
|
||||
* - 其他端口使用本模块的环形缓冲区机制
|
||||
*
|
||||
* 发送流程：
|
||||
@ -400,7 +431,7 @@ void MultiUART_Send(port_id_t port_id, const uint8_t *data, uint16_t len)
|
||||
* 调试串口(UART2)特殊处理
|
||||
* 调试打印不走环形缓冲区，直接发送
|
||||
*----------------------------------------------------------*/
|
||||
if (port_id == PORT_UART2) {
|
||||
if (port_id == PORT_DEBUG) {
|
||||
UART2_Print_Send(data, len);
|
||||
return;
|
||||
}
|
||||
@ -487,7 +518,7 @@ void MultiUART_SendFmt(port_id_t port_id, const char *fmt, ...)
|
||||
* @return 无
|
||||
*
|
||||
* 特殊处理：
|
||||
* - PORT_UART2调用UART2_Print_TxCpltCallback处理
|
||||
* - PORT_DEBUG调用UART2_Print_TxCpltCallback处理
|
||||
*
|
||||
* 发送驱动逻辑：
|
||||
* 1. 清除is_sending标志
|
||||
@ -504,7 +535,7 @@ void MultiUART_TxCpltCallback(port_id_t port_id)
|
||||
}
|
||||
|
||||
/* 调试串口(UART2)特殊处理 */
|
||||
if (port_id == PORT_UART2) {
|
||||
if (port_id == PORT_DEBUG) {
|
||||
UART2_Print_TxCpltCallback();
|
||||
return;
|
||||
}
|
||||
@ -660,3 +691,22 @@ uint32_t MultiUART_GetOverflowCount(port_id_t port_id)
|
||||
return g_port_ctx[port_id].rx_ring.overflow_count +
|
||||
g_port_ctx[port_id].tx_ring.overflow_count;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 检查指定端口是否正忙于发送
|
||||
* @param port_id: 端口ID
|
||||
* @return bool: true=忙碌(有待发数据或硬件发送中), false=空闲
|
||||
*/
|
||||
bool MultiUART_IsBusy(uint8_t port_id)
|
||||
{
|
||||
if (port_id >= PORT_COUNT) return false;
|
||||
|
||||
// 调试串口特殊处理
|
||||
if (port_id == PORT_DEBUG) {
|
||||
// UART2_Print 使用单独的标志位，这里简单兼容
|
||||
return false;
|
||||
}
|
||||
|
||||
// 直接读取状态，不屏蔽中断，追求极致性能
|
||||
return (g_port_ctx[port_id].tx_ring.count > 0 || g_port_ctx[port_id].tx_ring.is_sending);
|
||||
}
|
||||
|
||||
@ -462,7 +462,7 @@ int fputc(int ch, FILE *f)
|
||||
{
|
||||
(void)f;
|
||||
UART2_Print_Send((uint8_t *)&ch, 1);
|
||||
MultiUART_Send(PORT_UART3, (uint8_t *)&ch, 1); /* 增加：同时发给 UART3 */
|
||||
// MultiUART_Send(PORT_RS485, (uint8_t *)&ch, 1); /* 增加：同时发给 UART3 */
|
||||
return ch;
|
||||
}
|
||||
#endif
|
||||
@ -471,7 +471,7 @@ int fputc(int ch, FILE *f)
|
||||
int __io_putchar(int ch)
|
||||
{
|
||||
UART2_Print_Send((uint8_t *)&ch, 1);
|
||||
MultiUART_Send(PORT_UART3, (uint8_t *)&ch, 1); /* 增加：同时发给 UART3 */
|
||||
// MultiUART_Send(PORT_RS485, (uint8_t *)&ch, 1); /* 增加：同时发给 UART3 */
|
||||
return ch;
|
||||
}
|
||||
|
||||
@ -479,7 +479,7 @@ int _write(int file, char *ptr, int len)
|
||||
{
|
||||
(void)file;
|
||||
UART2_Print_Send((uint8_t *)ptr, len);
|
||||
MultiUART_Send(PORT_UART3, (uint8_t *)ptr, len); /* 增加：同时发给 UART3 */
|
||||
// MultiUART_Send(PORT_RS485, (uint8_t *)ptr, len); /* 增加：同时发给 UART3 */
|
||||
return len;
|
||||
}
|
||||
#endif
|
||||
@ -208,7 +208,7 @@ void Passthrough_Task(void)
|
||||
}
|
||||
|
||||
uint8_t byte = node->data[node->offset++];
|
||||
MultiUART_Send(PORT_UART1, &byte, 1);
|
||||
MultiUART_Send(PORT_433, &byte, 1);
|
||||
|
||||
ctx->queue.pending_count--;
|
||||
ctx->stats.total_bytes_sent++;
|
||||
@ -232,7 +232,7 @@ void Passthrough_OnTxComplete(void)
|
||||
*/
|
||||
bool Passthrough_CanSend(void)
|
||||
{
|
||||
return (MultiUART_GetTxAvailable(PORT_UART1) > 0) &&
|
||||
return (MultiUART_GetTxAvailable(PORT_433) > 0) &&
|
||||
(g_passthrough_ctx.queue.pending_count > 0);
|
||||
}
|
||||
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -1,39 +1,96 @@
|
||||
T93F8 003:309 SEGGER J-Link V6.12c Log File (0001ms, 0925ms total)
|
||||
T93F8 003:309 DLL Compiled: Dec 16 2016 17:24:18 (0001ms, 0925ms total)
|
||||
T93F8 003:309 Logging started @ 2026-01-13 12:00 (0001ms, 0925ms total)
|
||||
T93F8 003:310 JLINK_SetWarnOutHandler(...) (0000ms, 0925ms total)
|
||||
T93F8 003:310 JLINK_OpenEx(...)
|
||||
Firmware: J-Link ARM V8 compiled Nov 28 2014 13:44:46
|
||||
Hardware: V8.00
|
||||
Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBC:\Program Files (x86)\SEGGER\JLink_V612c\JLinkDevices.xml evaluated successfully.WEBSRV Webserver running on local port 19080 (0078ms, 1003ms total)
|
||||
T93F8 003:310 returns O.K. (0078ms, 1003ms total)
|
||||
T93F8 003:388 JLINK_GetEmuCaps() returns 0xB9FF7BBF (0000ms, 1003ms total)
|
||||
T93F8 003:389 JLINK_TIF_GetAvailable(...) (0000ms, 1003ms total)
|
||||
T93F8 003:389 JLINK_SetErrorOutHandler(...) (0000ms, 1003ms total)
|
||||
T93F8 003:389 JLINK_ExecCommand("ProjectFile = "C:\workfile\new_customer\boat\src\keil\E32-433TBH-SC\MDK-ARM\JLinkSettings.ini"", ...). returns 0x00 (0000ms, 1003ms total)
|
||||
T93F8 003:389 JLINK_ExecCommand("Device = STM32F103C8", ...). Device "STM32F103C8" selected. returns 0x00 (0001ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_ExecCommand("DisableConnectionTimeout", ...). returns 0x01 (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_GetDLLVersion() returns 61203 (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_GetFirmwareString(...) (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_GetDLLVersion() returns 61203 (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_GetCompileDateTime() (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_GetFirmwareString(...) (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_GetHardwareVersion() returns 0x13880 (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_TIF_Select(JLINKARM_TIF_SWD) returns 0x00 (0000ms, 1004ms total)
|
||||
T93F8 003:390 JLINK_SetSpeed(5000) (0001ms, 1005ms total)
|
||||
T93F8 003:391 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL) returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 1005ms total)
|
||||
T93F8 003:391 JLINK_Reset() >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF>
|
||||
>0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF>
|
||||
AP-IDR: 0x14770011, Type: AHB-APAHB-AP ROM: 0xE00FF000 (Base addr. of first ROM table) >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF>Found Cortex-M3 r1p1, Little endian. -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU_ReadMem(4 bytes @ 0xE0002000)FPUnit: 6 code (BP) slots and 2 literal slots -- CPU_ReadMem(4 bytes @ 0xE000EDFC)
|
||||
-- CPU_WriteMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) -- CPU_WriteMem(4 bytes @ 0xE0001000) -- CPU_ReadMem(4 bytes @ 0xE000ED88) -- CPU_WriteMem(4 bytes @ 0xE000ED88) -- CPU_ReadMem(4 bytes @ 0xE000ED88) -- CPU_WriteMem(4 bytes @ 0xE000ED88)CoreSight components:ROMTbl 0 @ E00FF000 -- CPU_ReadMem(16 bytes @ 0xE00FF000) -- CPU_ReadMem(16 bytes @ 0xE000EFF0) -- CPU_ReadMem(16 bytes @ 0xE000EFE0)ROMTbl 0 [0]: FFF0F000, CID: B105E00D, PID: 001BB000 SCS
|
||||
-- CPU_ReadMem(16 bytes @ 0xE0001FF0) -- CPU_ReadMem(16 bytes @ 0xE0001FE0)ROMTbl 0 [1]: FFF02000, CID: B105E00D, PID: 001BB002 DWT -- CPU_ReadMem(16 bytes @ 0xE0002FF0) -- CPU_ReadMem(16 bytes @ 0xE0002FE0)ROMTbl 0 [2]: FFF03000, CID: B105E00D, PID: 000BB003 FPB -- CPU_ReadMem(16 bytes @ 0xE0000FF0) -- CPU_ReadMem(16 bytes @ 0xE0000FE0)ROMTbl 0 [3]: FFF01000, CID: B105E00D, PID: 001BB001 ITM -- CPU_ReadMem(16 bytes @ 0xE00FF010) -- CPU_ReadMem(16 bytes @ 0xE0040FF0)
|
||||
-- CPU_ReadMem(16 bytes @ 0xE0040FE0)ROMTbl 0 [4]: FFF41000, CID: B105900D, PID: 001BB923 TPIU-Lite -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDFC) >0x35 TIF> -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000ED0C) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDFC)
|
||||
-- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE0002000) -- CPU_ReadMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) (0051ms, 1056ms total)
|
||||
T93F8 003:442 JLINK_GetId() >0x0D TIF> >0x21 TIF> returns 0x1BA01477 (0000ms, 1056ms total)
|
||||
T93F8 003:445 JLINK_GetFirmwareString(...) (0000ms, 1056ms total)
|
||||
T27DC 003:445
|
||||
***** Error: Connection to emulator lost! (10628ms, 11684ms total)
|
||||
T93F8 1481:830 JLINK_Close() (0011ms, 1067ms total)
|
||||
T93F8 1481:830 (0011ms, 1067ms total)
|
||||
T93F8 1481:830 Closed (0011ms, 1067ms total)
|
||||
T12E4 000:338.660 SEGGER J-Link V9.10 Log File
|
||||
T12E4 000:339.144 DLL Compiled: Jan 14 2026 11:30:41
|
||||
T12E4 000:339.176 Logging started @ 2026-05-27 07:36
|
||||
T12E4 000:339.202 Process: C:\Keil_v5\UV4\UV4.exe
|
||||
T12E4 000:339.242 - 339.228ms
|
||||
T12E4 000:339.287 JLINK_SetWarnOutHandler(...)
|
||||
T12E4 000:339.314 - 0.033ms
|
||||
T12E4 000:339.347 JLINK_OpenEx(...)
|
||||
T12E4 000:353.064 Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
|
||||
T12E4 000:354.044 Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
|
||||
T12E4 000:355.768 Hardware: V7.00
|
||||
T12E4 000:355.798 S/N: 20090928
|
||||
T12E4 000:355.818 OEM: SEGGER
|
||||
T12E4 000:355.839 Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull
|
||||
T12E4 000:356.335 Bootloader: (FW returned invalid version)
|
||||
T12E4 000:357.137 TELNET listener socket opened on port 19021
|
||||
T12E4 000:357.441 WEBSRV WEBSRV_Init(): Starting webserver thread(s)
|
||||
T12E4 000:357.719 WEBSRV Webserver running on local port 19080
|
||||
T12E4 000:357.956 Looking for J-Link GUI Server exe at: C:\Keil_v5\ARM\Segger\JLinkGUIServer.exe
|
||||
T12E4 000:358.100 Looking for J-Link GUI Server exe at: C:\Program Files\SEGGER\JLink_V910\JLinkGUIServer.exe
|
||||
T12E4 000:665.738 Failed to connect to J-Link GUI Server.
|
||||
T12E4 000:665.806 - 326.445ms returns "O.K."
|
||||
T12E4 000:665.841 JLINK_GetEmuCaps()
|
||||
T12E4 000:665.865 - 0.017ms returns 0x88EA5833
|
||||
T12E4 000:665.890 JLINK_TIF_GetAvailable(...)
|
||||
T12E4 000:666.130 - 0.239ms
|
||||
T12E4 000:666.169 JLINK_SetErrorOutHandler(...)
|
||||
T12E4 000:666.186 - 0.016ms
|
||||
T12E4 000:666.242 JLINK_ExecCommand("ProjectFile = "C:\workfile\104_BOAT_DTU\software\TARGET_BOARD_E32-433TBH-SC\MDK-ARM\JLinkSettings.ini"", ...).
|
||||
T12E4 000:710.711 Ref file found at: C:\Keil_v5\ARM\Segger\JLinkDevices.ref
|
||||
T12E4 000:710.971 REF file references invalid XML file: C:\Program Files\SEGGER\JLink_V910\JLinkDevices.xml
|
||||
T12E4 000:712.629 - 46.391ms returns 0x00
|
||||
T12E4 000:718.910 JLINK_ExecCommand("Device = STM32F103C8", ...).
|
||||
T12E4 000:725.238 Device "STM32F103C8" selected.
|
||||
T12E4 000:725.669 - 6.734ms returns 0x00
|
||||
T12E4 000:725.692 JLINK_ExecCommand("DisableConnectionTimeout", ...).
|
||||
T12E4 000:725.734 ERROR: Unknown command
|
||||
T12E4 000:725.755 - 0.034ms returns 0x01
|
||||
T12E4 000:725.769 JLINK_GetHardwareVersion()
|
||||
T12E4 000:725.783 - 0.010ms returns 70000
|
||||
T12E4 000:725.795 JLINK_GetDLLVersion()
|
||||
T12E4 000:725.805 - 0.009ms returns 91000
|
||||
T12E4 000:725.817 JLINK_GetOEMString(...)
|
||||
T12E4 000:725.830 JLINK_GetFirmwareString(...)
|
||||
T12E4 000:725.841 - 0.010ms
|
||||
T12E4 000:742.420 JLINK_GetDLLVersion()
|
||||
T12E4 000:742.460 - 0.040ms returns 91000
|
||||
T12E4 000:742.467 JLINK_GetCompileDateTime()
|
||||
T12E4 000:742.472 - 0.005ms
|
||||
T12E4 000:745.608 JLINK_GetFirmwareString(...)
|
||||
T12E4 000:745.622 - 0.014ms
|
||||
T12E4 000:748.507 JLINK_GetHardwareVersion()
|
||||
T12E4 000:748.517 - 0.010ms returns 70000
|
||||
T12E4 000:751.460 JLINK_GetSN()
|
||||
T12E4 000:751.470 - 0.010ms returns 20090928
|
||||
T12E4 000:754.303 JLINK_GetOEMString(...)
|
||||
T12E4 000:762.434 JLINK_TIF_Select(JLINKARM_TIF_JTAG)
|
||||
T12E4 000:764.029 - 1.599ms returns 0x00
|
||||
T12E4 000:764.045 JLINK_HasError()
|
||||
T12E4 000:764.056 JLINK_SetSpeed(5000)
|
||||
T12E4 000:764.128 - 0.073ms
|
||||
T12E4 000:764.141 JLINK_GetIdData(pIdData)
|
||||
T12E4 000:767.538 InitTarget() start
|
||||
T12E4 000:767.551 J-Link Script File: Executing InitTarget()
|
||||
T12E4 000:770.631 JTAG selected. Identifying JTAG Chain...
|
||||
T12E4 000:775.258 Could not measure total IR len. TDO is constant high.
|
||||
T12E4 000:778.999 Error: Scanning JTAG chain failed.
|
||||
T12E4 000:782.127 Can not attach to CPU. Trying connect under reset.
|
||||
T12E4 000:836.606 JTAG selected. Identifying JTAG Chain...
|
||||
T12E4 000:841.663 Could not measure total IR len. TDO is constant high.
|
||||
T12E4 000:845.751 Error: Scanning JTAG chain failed.
|
||||
T12E4 000:850.185 Connecting to CPU via connect under reset failed.
|
||||
T12E4 000:901.266
|
||||
***** Error:
|
||||
T12E4 000:901.339 J-Link script file function InitTarget() returned with error code -1
|
||||
T12E4 000:918.753 InitTarget() end - Took 133ms
|
||||
T12E4 000:935.880 Connect failed. Resetting via Reset pin and trying again.
|
||||
T12E4 001:014.455 InitTarget() start
|
||||
T12E4 001:014.542 J-Link Script File: Executing InitTarget()
|
||||
T12E4 001:031.499 JTAG selected. Identifying JTAG Chain...
|
||||
T12E4 001:057.121 Could not measure total IR len. TDO is constant high.
|
||||
T12E4 001:073.844 Error: Scanning JTAG chain failed.
|
||||
T12E4 001:082.649 Can not attach to CPU. Trying connect under reset.
|
||||
T12E4 001:137.329 JTAG selected. Identifying JTAG Chain...
|
||||
T12E4 001:142.365 Could not measure total IR len. TDO is constant high.
|
||||
T12E4 001:146.281 Error: Scanning JTAG chain failed.
|
||||
T12E4 001:149.924 Connecting to CPU via connect under reset failed.
|
||||
T12E4 001:200.729
|
||||
***** Error:
|
||||
T12E4 001:200.798 J-Link script file function InitTarget() returned with error code -1
|
||||
T12E4 001:214.161 InitTarget() end - Took 186ms
|
||||
T12E4 001:214.221 - 450.078ms
|
||||
T12E4 002:651.160 JLINK_Close()
|
||||
T12E4 002:663.458 - 12.300ms
|
||||
T12E4 002:663.478
|
||||
T12E4 002:663.483 Closed
|
||||
|
||||
File diff suppressed because one or more lines are too long
@ -81,7 +81,7 @@
|
||||
</BeforeMake>
|
||||
<AfterMake>
|
||||
<RunUserProg1>0</RunUserProg1>
|
||||
<RunUserProg2>1</RunUserProg2>
|
||||
<RunUserProg2>0</RunUserProg2>
|
||||
<UserProg1Name></UserProg1Name>
|
||||
<UserProg2Name></UserProg2Name>
|
||||
<UserProg1Dos16Mode>0</UserProg1Dos16Mode>
|
||||
@ -353,7 +353,7 @@
|
||||
<NoWarn>0</NoWarn>
|
||||
<uSurpInc>0</uSurpInc>
|
||||
<useXO>0</useXO>
|
||||
<ClangAsOpt>1</ClangAsOpt>
|
||||
<ClangAsOpt>4</ClangAsOpt>
|
||||
<VariousControls>
|
||||
<MiscControls></MiscControls>
|
||||
<Define></Define>
|
||||
@ -414,6 +414,11 @@
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/main.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>modbus_tcp_client.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
<FilePath>../Core/Src/modbus_tcp_client.c</FilePath>
|
||||
</File>
|
||||
<File>
|
||||
<FileName>gpio.c</FileName>
|
||||
<FileType>1</FileType>
|
||||
@ -526,14 +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>
|
||||
|
||||
@ -4,6 +4,7 @@
|
||||
"project\rf433_rx_app.o"
|
||||
"project\rf433_tx_app.o"
|
||||
"project\main.o"
|
||||
"project\modbus_tcp_client.o"
|
||||
"project\gpio.o"
|
||||
"project\spi.o"
|
||||
"project\usart.o"
|
||||
@ -16,8 +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"
|
||||
|
||||
15
MDK-ARM/project/project_sct.Bak
Normal file
15
MDK-ARM/project/project_sct.Bak
Normal file
@ -0,0 +1,15 @@
|
||||
; *************************************************************
|
||||
; *** Scatter-Loading Description File generated by uVision ***
|
||||
; *************************************************************
|
||||
|
||||
LR_IROM1 0x08000000 0x00010000 { ; load region size_region
|
||||
ER_IROM1 0x08000000 0x00010000 { ; load address = execution address
|
||||
*.o (RESET, +First)
|
||||
*(InRoot$$Sections)
|
||||
.ANY (+RO)
|
||||
}
|
||||
RW_IRAM1 0x20000000 0x00005000 { ; RW data
|
||||
.ANY (+RW +ZI)
|
||||
}
|
||||
}
|
||||
|
||||
@ -246,21 +246,9 @@ int32_t loopback_udps(uint8_t sn, uint8_t *buf, uint16_t port)
|
||||
size = (uint16_t)ret;
|
||||
|
||||
/* ========================================================== *
|
||||
/* 🚀 核心修改：网络数据透传时，加上 [0xAA] 和设备 ID */
|
||||
uint8_t tx_buf[2048];
|
||||
|
||||
// 1. 添加统一的空中协议头 (0xAA + ID)
|
||||
tx_buf[0] = 0xAA;
|
||||
tx_buf[1] = MY_DEVICE_ID;
|
||||
|
||||
// 2. 把网络标识 "[NET]" 写进数组，注意要从第 2 个字节开始写
|
||||
int tag_len = sprintf((char*)&tx_buf[2], "[NET]");
|
||||
|
||||
// 3. 把网络收到的真实数据 (buf) 紧挨着拼接到后面
|
||||
memcpy(&tx_buf[2 + tag_len], buf, size);
|
||||
|
||||
// 4. 把拼接好的整串数据 (头 + ID + [NET] + 数据) 发给 RF433
|
||||
MultiUART_Send(PORT_UART1, tx_buf, 2 + tag_len + size);
|
||||
* 🚀 核心修改：使用统一协议函数发送网络数据 (Type 0x55)
|
||||
* ========================================================== */
|
||||
RF433_SendPacket(PROTO_TYPE_NET, buf, size);
|
||||
/* ========================================================== */
|
||||
sentsize = 0;
|
||||
while (sentsize != size)
|
||||
|
||||
@ -4,6 +4,7 @@
|
||||
#include "wizchip_conf.h"
|
||||
#include "wiz_interface.h"
|
||||
#include "loopback.h"
|
||||
#include "main.h"
|
||||
|
||||
/*wizchip->STM32 Hardware Pin define*/
|
||||
// wizchip_SCS ---> STM32_GPIOD7
|
||||
@ -16,15 +17,19 @@
|
||||
/* Define network information */
|
||||
wiz_NetInfo default_net_info = {
|
||||
.mac = {0x00, 0x08, 0xdc, 0x12, 0x22, 0x12},
|
||||
#if TEST_A701
|
||||
.ip = {192, 168, 6, 212},
|
||||
.gw = {192, 168, 6, 1},
|
||||
.gw = {192, 168, 0, 1},
|
||||
#else
|
||||
.ip = {192, 168, 0, 5},
|
||||
.gw = {192, 168, 0, 1},
|
||||
#endif
|
||||
.sn = {255, 255, 255, 0},
|
||||
.dns = {8, 8, 8, 8},
|
||||
.dhcp = NETINFO_STATIC
|
||||
//.dhcp = NETINFO_STATIC //static ip
|
||||
};
|
||||
uint16_t local_port = 8000;
|
||||
static uint8_t ethernet_buf[ETHERNET_BUF_MAX_SIZE] = {0};
|
||||
uint8_t ethernet_buf[ETHERNET_BUF_MAX_SIZE] = {0};
|
||||
/**
|
||||
* @brief User Run Program
|
||||
* @param none
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
#include "wiz_platform.h"
|
||||
#include "wizchip_conf.h"
|
||||
#include "dhcp.h"
|
||||
#include "main.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
@ -93,15 +94,18 @@ void wiz_delete_timer(void (*func)(void))
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief wiz timer event handler
|
||||
* @brief wiz timer event handler (using HAL_GetTick)
|
||||
*
|
||||
* You must add this function to your 1ms timer interrupt
|
||||
*
|
||||
*/
|
||||
void wiz_timer_handler(void)
|
||||
{
|
||||
static uint32_t last_tick = 0;
|
||||
uint32_t current_tick = HAL_GetTick();
|
||||
|
||||
wiz_delay_ms_count++;
|
||||
if (current_tick != last_tick) {
|
||||
last_tick = current_tick;
|
||||
struct wiz_timer *temp = wiz_timer_head;
|
||||
while (temp != NULL)
|
||||
{
|
||||
@ -113,37 +117,37 @@ void wiz_timer_handler(void)
|
||||
}
|
||||
temp = temp->next;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Delay function in milliseconds
|
||||
* @param nms :Delay Time
|
||||
*/
|
||||
void wiz_user_delay_ms(uint32_t nms)
|
||||
{
|
||||
wiz_delay_ms_count = 0;
|
||||
while (wiz_delay_ms_count < nms)
|
||||
{
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Check the WIZCHIP version
|
||||
* @brief Delay function in milliseconds (using HAL_GetTick)
|
||||
* @param nms :Delay Time
|
||||
*/
|
||||
void wiz_user_delay_ms(uint32_t nms)
|
||||
{
|
||||
uint32_t start = HAL_GetTick();
|
||||
while ((HAL_GetTick() - start) < nms) {
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Check the WIZCHIP version (with timeout)
|
||||
*/
|
||||
void wizchip_version_check(void)
|
||||
{
|
||||
uint8_t error_count = 0;
|
||||
while (1)
|
||||
uint32_t start_tick = HAL_GetTick();
|
||||
while ((HAL_GetTick() - start_tick) < 5000)
|
||||
{
|
||||
wiz_user_delay_ms(1000);
|
||||
wiz_user_delay_ms(100);
|
||||
if (getVERSIONR() != W5500_VERSION)
|
||||
{
|
||||
error_count++;
|
||||
if (error_count > 5)
|
||||
{
|
||||
printf("error, W5500 version is 0x%02x, but read W5500 version value = 0x%02x\r\n", W5500_VERSION, getVERSIONR());
|
||||
while (1)
|
||||
;
|
||||
printf("WARN: W5500 version check failed, SPI may be disconnected\r\n");
|
||||
break;
|
||||
}
|
||||
}
|
||||
else
|
||||
@ -165,25 +169,26 @@ void wiz_print_phy_info(void)
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Ethernet Link Detection
|
||||
* @brief Ethernet Link Detection (with timeout)
|
||||
*/
|
||||
void wiz_phy_link_check(void)
|
||||
{
|
||||
uint8_t phy_link_status;
|
||||
do
|
||||
uint32_t start_tick = HAL_GetTick();
|
||||
|
||||
while ((HAL_GetTick() - start_tick) < 10000)
|
||||
{
|
||||
wiz_user_delay_ms(1000);
|
||||
wiz_user_delay_ms(500);
|
||||
ctlwizchip(CW_GET_PHYLINK, (void *)&phy_link_status);
|
||||
if (phy_link_status == PHY_LINK_ON)
|
||||
{
|
||||
printf("PHY link\r\n");
|
||||
wiz_print_phy_info();
|
||||
return;
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("PHY no link\r\n");
|
||||
}
|
||||
} while (phy_link_status == PHY_LINK_OFF);
|
||||
|
||||
printf("WARN: PHY link timeout, using static config\r\n");
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
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
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
@ -0,0 +1 @@
|
||||
,DESKTOP-0S8JI7H/xtell,DESKTOP-0S8JI7H,12.05.2026 14:51,file:///C:/Users/xtell/AppData/Roaming/LibreOffice/4;
|
||||
BIN
docs/ModbusSlaveSetup64Bit.exe
Normal file
BIN
docs/ModbusSlaveSetup64Bit.exe
Normal file
Binary file not shown.
BIN
docs/Modbus_RTU原始数据来源.pdf
Normal file
BIN
docs/Modbus_RTU原始数据来源.pdf
Normal file
Binary file not shown.
214
docs/Modbus_RTU报文
Normal file
214
docs/Modbus_RTU报文
Normal file
@ -0,0 +1,214 @@
|
||||
# Modbus RTU 报文说明
|
||||
|
||||
本文档描述 STM32 通过 RS485 接口轮询 Noris AMS 模块的 Modbus RTU 通信协议，
|
||||
以及报警数据如何通过 RF433 无线上报。
|
||||
|
||||
|
||||
# 测试方法
|
||||
|
||||
下载docs/ModbusSlaveSetup64Bit.exe，配置从站地址为 1，波特率为 19200，通过连接 RS485 串口连接可查看 Modbus RTU 报文。
|
||||
|
||||
---
|
||||
|
||||
## 1. Modbus RTU 请求帧 (MCU → Noris AMS)
|
||||
|
||||
```text
|
||||
01 03 04 88 00 01 C5 D3
|
||||
-- -- -- -- -- -- -- --
|
||||
| | | | | | | |
|
||||
| | | | | | | +-- CRC16 低字节
|
||||
| | | | | | +------ CRC16 高字节
|
||||
| | | | | +---------- 读取数量 = 1 个寄存器 (00 01)
|
||||
| | | +------------------ 寄存器起始地址 = 0x0488 = 1160 (Noris 41161)
|
||||
| | +---------------------- 功能码 = 0x03 (Read Holding Registers)
|
||||
| +-------------------------- 从站地址 = 1
|
||||
+------------------------------ 固定从站地址
|
||||
```
|
||||
|
||||
- 帧长度: 8 字节
|
||||
- 发送间隔: 1000ms (MODBUS_RTU_POLL_INTERVAL)
|
||||
- 发送方式: HAL_UART_Transmit() 阻塞发送, @19200bps 约 4.2ms
|
||||
|
||||
---
|
||||
|
||||
## 2. Modbus RTU 正常响应帧 (Noris AMS → MCU)
|
||||
|
||||
```text
|
||||
01 03 02 00 F0 B8 47
|
||||
-- -- -- -- -- -- --
|
||||
| | | | | | |
|
||||
| | | | | | +-- CRC16 高字节
|
||||
| | | | | +------ CRC16 低字节
|
||||
| | | | +---------- 寄存器值低字节 = 0xF0
|
||||
| | | +-------------- 寄存器值高字节 = 0x00 (大端序)
|
||||
| | +------------------ 数据字节数 = 2 (1个寄存器 × 2字节)
|
||||
| +---------------------- 功能码 = 0x03 (正常响应)
|
||||
+-------------------------- 从站地址 = 1
|
||||
```
|
||||
|
||||
- 帧长度: 7 字节
|
||||
- 寄存器值: 0x00F0 (大端序)
|
||||
|
||||
---
|
||||
|
||||
## 3. 寄存器值 → 报警位映射
|
||||
|
||||
寄存器 41161 值为 0x00F0 时的位分布:
|
||||
|
||||
```text
|
||||
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)
|
||||
```
|
||||
|
||||
提取宏定义 (modbus_rtu_master.h):
|
||||
```c
|
||||
NORIS_FIRE_ALARM(reg) = (reg >> 4) & 1 // Bit4 → 报警字节 Bit0
|
||||
NORIS_DOOR_ALARM(reg) = (reg >> 5) & 1 // Bit5 → 报警字节 Bit1
|
||||
NORIS_BILGE_ALARM(reg) = (reg >> 6) & 1 // Bit6 → 报警字节 Bit2
|
||||
NORIS_GAS_ALARM(reg) = (reg >> 7) & 1 // Bit7 → 报警字节 Bit3
|
||||
```
|
||||
|
||||
映射后的紧凑报警字节 (0x00F0 → 0x0F):
|
||||
|
||||
```text
|
||||
Bit: 7 6 5 4 3 2 1 0
|
||||
0 0 0 0 1 1 1 1
|
||||
↑ ↑ ↑ ↑
|
||||
│ │ │ └─ Bit0: 火灾报警
|
||||
│ │ └──── Bit1: 水密门报警
|
||||
│ └─────── Bit2: 舱底水报警
|
||||
└────────── Bit3: 气体检测报警
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 报警状态变化上报 (主动上报, Type 0x10)
|
||||
|
||||
当 Modbus RTU 报警状态发生变化时，立即发送此包。
|
||||
格式与原 DI 变化通知完全一致，上位机代码无需修改。
|
||||
|
||||
```text
|
||||
AA 10 03 ID XX SUM
|
||||
-- -- -- -- -- ---
|
||||
| | | | | |
|
||||
| | | | | +-- 校验和
|
||||
| | | | +------ 报警状态字节 (见第3节报警字节定义)
|
||||
| | | +---------- 本机设备 ID
|
||||
| | +-------------- 长度固定为 0x03 (ID + 1字节状态 + SUM)
|
||||
| +------------------ 类型标识：0x10 (I/O Data)
|
||||
+---------------------- 固定起始符
|
||||
```
|
||||
|
||||
示例 (设备ID=105, 报警=0x0F):
|
||||
```text
|
||||
AA 10 03 69 0F [SUM]
|
||||
```
|
||||
|
||||
触发条件: Modbus RTU 轮询到报警状态变化，且非首次轮询结果。
|
||||
|
||||
---
|
||||
|
||||
## 5. 系统心跳包 (30秒/次, Type 0xAA)
|
||||
|
||||
```text
|
||||
AA AA 09 ID [SEQ_H] [SEQ_L] [FW_H] [FW_L] [RTU] [TCP_H] [TCP_L] SUM
|
||||
-- -- -- -- --------------- ------------- ---- --------------- ---
|
||||
| | | | | | | | |
|
||||
| | | | | | | | +-- 校验和
|
||||
| | | | | | | +------------- Modbus TCP 寄存器值
|
||||
| | | | | | +------------------------ Modbus RTU 报警状态
|
||||
| | | | | | Bit0:火灾 Bit1:水密门
|
||||
| | | | | | Bit2:舱底水 Bit3:气体检测
|
||||
| | | | | +------------------------------------ 固件版本编码
|
||||
| | | | +--------------------------------------------------- 序列号 (0-65535)
|
||||
| | | +------------------------------------------------------------- 本机设备 ID
|
||||
| | +----------------------------------------------------------------- LEN = 9
|
||||
| +--------------------------------------------------------------------- 类型 0xAA
|
||||
+------------------------------------------------------------------------- 固定起始符
|
||||
```
|
||||
|
||||
Payload 字段说明:
|
||||
|
||||
| 偏移 | 字段 | 长度 | 说明 |
|
||||
|------|----------|------|------|
|
||||
| 0-1 | SEQ | 2 | 序列号 (16-bit 大端, 0-65535 循环自增) |
|
||||
| 2-3 | FW | 2 | 固件版本编码 (MAKE_XTELL_CODE 宏) |
|
||||
| 4 | RTU | 1 | Modbus RTU 报警状态字节 (原 DI 状态位，现替换为报警位) |
|
||||
| 5-6 | TCP | 2 | Modbus TCP 最后寄存器值 (0xFFFF 表示无效) |
|
||||
|
||||
---
|
||||
|
||||
## 6. Modbus RTU 异常响应帧 (参考)
|
||||
|
||||
如果从站返回异常:
|
||||
|
||||
```text
|
||||
01 83 02 C0 F1
|
||||
-- -- -- -- --
|
||||
| | | | |
|
||||
| | | | +-- CRC16 校验
|
||||
| | | +------ 异常码 = 02 (非法寄存器地址)
|
||||
| | +---------- 功能码 + 0x80 (异常标志, 0x03 → 0x83)
|
||||
| +-------------- 从站地址
|
||||
+------------------
|
||||
```
|
||||
|
||||
处理: 异常响应 FC ≠ 0x03，被 parse_modbus_response() 中
|
||||
mb_rx_buf[1] != 0x03 判断拦截，静默丢弃。
|
||||
|
||||
---
|
||||
|
||||
## 7. 状态机与轮询时序
|
||||
|
||||
### 7.1 状态机
|
||||
|
||||
```text
|
||||
IDLE ──[1000ms到]──> WAIT_POLL ──[立即发送]──> WAIT_RESPONSE
|
||||
↑ │
|
||||
│ ┌─────────────┤
|
||||
│ │ │
|
||||
│ [帧接收完成] [超时500ms]
|
||||
│ │ │
|
||||
└──────────── PROCESS ←─────────┘ │
|
||||
│ │
|
||||
│ (解析+更新报警) │
|
||||
└────────────────────────────────┘
|
||||
```
|
||||
|
||||
### 7.2 轮询时序示例
|
||||
|
||||
```text
|
||||
时间 0ms 1000ms 2000ms 3000ms
|
||||
│ │ │ │
|
||||
T0 ├─TX(8B,4ms)
|
||||
├─RX(7B,4ms)
|
||||
├─解析
|
||||
│
|
||||
T1 ├─TX
|
||||
├─RX
|
||||
├─解析
|
||||
│
|
||||
T2 ├─TX
|
||||
├─超时500ms
|
||||
├─回IDLE
|
||||
│
|
||||
T3 ├─TX
|
||||
├─RX
|
||||
├─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。
|
||||
|
||||
### 7.3 关键超时参数
|
||||
|
||||
| 参数 | 值 | 说明 |
|
||||
|------|------|------|
|
||||
| MODBUS_RTU_POLL_INTERVAL | 1000ms | 轮询间隔 |
|
||||
| MODBUS_RTU_RESP_TIMEOUT | 500ms | 响应超时 |
|
||||
| MODBUS_RTU_INTER_CHAR_TIMEOUT | 10ms | 帧内字符间隔超时 |
|
||||
| MODBUS_RTU_TX_ECHO_MARGIN | 10ms | 发送回波屏蔽时间 |
|
||||
@ -138,7 +138,7 @@
|
||||
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
|
||||
{
|
||||
if (huart->Instance == USART3) {
|
||||
MultiUART_FeedByte(PORT_UART3, uart3_rx_byte);
|
||||
MultiUART_FeedByte(PORT_RS485, uart3_rx_byte);
|
||||
HAL_UART_Receive_IT(&huart3, &uart3_rx_byte, 1);
|
||||
}
|
||||
}
|
||||
@ -149,7 +149,7 @@ void CmdRouter_Task(void)
|
||||
// ... UART1/UART3处理 ...
|
||||
|
||||
for (port_id_t port_id = 0; port_id < PORT_COUNT; port_id++) {
|
||||
if (port_id == PORT_UART2) continue; // UART2单独处理
|
||||
if (port_id == PORT_DEBUG) continue; // UART2单独处理
|
||||
|
||||
uint8_t byte;
|
||||
while (MultiUART_ReadByte(port_id, &byte) > 0) {
|
||||
@ -380,7 +380,7 @@ void Passthrough_Task(void)
|
||||
if (node->offset < node->length) {
|
||||
// 发送一个字节
|
||||
uint8_t byte = node->data[node->offset++];
|
||||
MultiUART_Send(PORT_UART1, &byte, 1);
|
||||
MultiUART_Send(PORT_433, &byte, 1);
|
||||
}
|
||||
|
||||
// 检查节点是否发送完成
|
||||
@ -659,7 +659,7 @@ void CmdRouter_Task_UART3_Enhanced(void)
|
||||
|
||||
// 1. 读取UART3接收缓冲区
|
||||
uint8_t byte;
|
||||
while (MultiUART_ReadByte(PORT_UART3, &byte) > 0) {
|
||||
while (MultiUART_ReadByte(PORT_RS485, &byte) > 0) {
|
||||
|
||||
// 2. 协议识别
|
||||
route_result_t route = UART3_Protocol_FeedByte(byte, current_tick);
|
||||
@ -844,7 +844,7 @@ void Passthrough_Task(void)
|
||||
|
||||
// 发送一个字节
|
||||
uint8_t byte = node->data[node->offset++];
|
||||
MultiUART_Send(PORT_UART1, &byte, 1);
|
||||
MultiUART_Send(PORT_433, &byte, 1);
|
||||
|
||||
ctx->queue.pending_count--;
|
||||
ctx->stats.total_bytes_sent++;
|
||||
@ -902,7 +902,7 @@ uint16_t Passthrough_PushBuffer(const uint8_t *data, uint16_t length)
|
||||
bool Passthrough_CanSend(void)
|
||||
{
|
||||
// 检查UART1 TX是否忙
|
||||
return (MultiUART_GetTxAvailable(PORT_UART1) > 0) &&
|
||||
return (MultiUART_GetTxAvailable(PORT_433) > 0) &&
|
||||
(g_passthrough_ctx.queue.pending_count > 0);
|
||||
}
|
||||
```
|
||||
@ -934,8 +934,8 @@ void CmdRouter_Task(void)
|
||||
#else
|
||||
// 原有逻辑：所有数据喂给CmdParser
|
||||
uint8_t byte;
|
||||
while (MultiUART_ReadByte(PORT_UART3, &byte) > 0) {
|
||||
CmdParser_SetSourcePort(PORT_UART3);
|
||||
while (MultiUART_ReadByte(PORT_RS485, &byte) > 0) {
|
||||
CmdParser_SetSourcePort(PORT_RS485);
|
||||
CmdParser_FeedByte(byte, current_tick);
|
||||
}
|
||||
#endif
|
||||
@ -955,14 +955,14 @@ static void UART3_SmartRouter_Task(uint32_t current_tick)
|
||||
uint8_t byte;
|
||||
|
||||
// 读取所有待处理的字节
|
||||
while (MultiUART_ReadByte(PORT_UART3, &byte) > 0) {
|
||||
while (MultiUART_ReadByte(PORT_RS485, &byte) > 0) {
|
||||
// 协议识别
|
||||
route_result_t route = UART3_Protocol_FeedByte(byte, current_tick);
|
||||
|
||||
switch (route) {
|
||||
case ROUTE_CMD:
|
||||
// 指令路径
|
||||
CmdParser_SetSourcePort(PORT_UART3);
|
||||
CmdParser_SetSourcePort(PORT_RS485);
|
||||
CmdParser_FeedByte(byte, current_tick);
|
||||
LOG_DEBUG("[UART3] CMD byte: 0x%02X", byte);
|
||||
break;
|
||||
@ -997,7 +997,7 @@ static void UART3_SmartRouter_Task(uint32_t current_tick)
|
||||
#### 3.3.2 透传引擎发送接口
|
||||
|
||||
```c
|
||||
// 复用现有的 MultiUART_Send(PORT_UART1, data, len)
|
||||
// 复用现有的 MultiUART_Send(PORT_433, data, len)
|
||||
// 透传引擎将数据写入UART1的发送缓冲区
|
||||
// 由MultiUART_TxCpltCallback驱动后续发送
|
||||
```
|
||||
|
||||
BIN
docs/temp.zip
Normal file
BIN
docs/temp.zip
Normal file
Binary file not shown.
2
docs/xlsx_temp/[Content_Types].xml
Normal file
2
docs/xlsx_temp/[Content_Types].xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<Types xmlns="http://schemas.openxmlformats.org/package/2006/content-types"><Default Extension="rels" ContentType="application/vnd.openxmlformats-package.relationships+xml"/><Default Extension="xml" ContentType="application/xml"/><Override PartName="/docProps/app.xml" ContentType="application/vnd.openxmlformats-officedocument.extended-properties+xml"/><Override PartName="/docProps/core.xml" ContentType="application/vnd.openxmlformats-package.core-properties+xml"/><Override PartName="/docProps/custom.xml" ContentType="application/vnd.openxmlformats-officedocument.custom-properties+xml"/><Override PartName="/xl/customStorage/customStorage.xml" ContentType="application/vnd.wps-officedocument.customStorage+xml"/><Override PartName="/xl/sharedStrings.xml" ContentType="application/vnd.openxmlformats-officedocument.spreadsheetml.sharedStrings+xml"/><Override PartName="/xl/styles.xml" ContentType="application/vnd.openxmlformats-officedocument.spreadsheetml.styles+xml"/><Override PartName="/xl/theme/theme1.xml" ContentType="application/vnd.openxmlformats-officedocument.theme+xml"/><Override PartName="/xl/workbook.xml" ContentType="application/vnd.openxmlformats-officedocument.spreadsheetml.sheet.main+xml"/><Override PartName="/xl/worksheets/sheet1.xml" ContentType="application/vnd.openxmlformats-officedocument.spreadsheetml.worksheet+xml"/></Types>
|
||||
2
docs/xlsx_temp/_rels/.rels
Normal file
2
docs/xlsx_temp/_rels/.rels
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships"><Relationship Id="rId1" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/officeDocument" Target="xl/workbook.xml"/><Relationship Id="rId3" Type="http://schemas.openxmlformats.org/package/2006/relationships/metadata/core-properties" Target="docProps/core.xml"/><Relationship Id="rId2" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/extended-properties" Target="docProps/app.xml"/><Relationship Id="rId4" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/custom-properties" Target="docProps/custom.xml"/></Relationships>
|
||||
2
docs/xlsx_temp/docProps/app.xml
Normal file
2
docs/xlsx_temp/docProps/app.xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<Properties xmlns="http://schemas.openxmlformats.org/officeDocument/2006/extended-properties" xmlns:vt="http://schemas.openxmlformats.org/officeDocument/2006/docPropsVTypes"><Application>Microsoft Excel</Application><HeadingPairs><vt:vector size="2" baseType="variant"><vt:variant><vt:lpstr>工作表</vt:lpstr></vt:variant><vt:variant><vt:i4>1</vt:i4></vt:variant></vt:vector></HeadingPairs><TitlesOfParts><vt:vector size="1" baseType="lpstr"><vt:lpstr>外部通讯协议</vt:lpstr></vt:vector></TitlesOfParts></Properties>
|
||||
2
docs/xlsx_temp/docProps/core.xml
Normal file
2
docs/xlsx_temp/docProps/core.xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<cp:coreProperties xmlns:cp="http://schemas.openxmlformats.org/package/2006/metadata/core-properties" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:dcterms="http://purl.org/dc/terms/" xmlns:dcmitype="http://purl.org/dc/dcmitype/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"><dc:creator>lkl</dc:creator><cp:lastModifiedBy>lkl</cp:lastModifiedBy><dcterms:created xsi:type="dcterms:W3CDTF">2015-06-05T18:19:00Z</dcterms:created><dcterms:modified xsi:type="dcterms:W3CDTF">2026-05-09T04:21:37Z</dcterms:modified></cp:coreProperties>
|
||||
2
docs/xlsx_temp/docProps/custom.xml
Normal file
2
docs/xlsx_temp/docProps/custom.xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<Properties xmlns="http://schemas.openxmlformats.org/officeDocument/2006/custom-properties" xmlns:vt="http://schemas.openxmlformats.org/officeDocument/2006/docPropsVTypes"><property fmtid="{D5CDD505-2E9C-101B-9397-08002B2CF9AE}" pid="2" name="KSOProductBuildVer"><vt:lpwstr>2052-12.8.2.21549</vt:lpwstr></property><property fmtid="{D5CDD505-2E9C-101B-9397-08002B2CF9AE}" pid="3" name="ICV"><vt:lpwstr>32722E1FC28F465CAD8A47F6421DC308_13</vt:lpwstr></property></Properties>
|
||||
2
docs/xlsx_temp/xl/_rels/workbook.xml.rels
Normal file
2
docs/xlsx_temp/xl/_rels/workbook.xml.rels
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<Relationships xmlns="http://schemas.openxmlformats.org/package/2006/relationships"><Relationship Id="rId5" Type="http://www.wps.cn/officeDocument/2023/relationships/customStorage" Target="customStorage/customStorage.xml"/><Relationship Id="rId4" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/styles" Target="styles.xml"/><Relationship Id="rId3" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/sharedStrings" Target="sharedStrings.xml"/><Relationship Id="rId2" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/theme" Target="theme/theme1.xml"/><Relationship Id="rId1" Type="http://schemas.openxmlformats.org/officeDocument/2006/relationships/worksheet" Target="worksheets/sheet1.xml"/></Relationships>
|
||||
2
docs/xlsx_temp/xl/customStorage/customStorage.xml
Normal file
2
docs/xlsx_temp/xl/customStorage/customStorage.xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<customStorage xmlns="https://web.wps.cn/et/2018/main"><book/><sheets/></customStorage>
|
||||
2
docs/xlsx_temp/xl/sharedStrings.xml
Normal file
2
docs/xlsx_temp/xl/sharedStrings.xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<sst xmlns="http://schemas.openxmlformats.org/spreadsheetml/2006/main" count="419" uniqueCount="29"><si><t>Details</t></si><si><t>Address</t></si><si><t>Name</t></si><si><t>Bits</t></si><si><t>Write/Read</t></si><si><t>Definition</t></si><si><t>Type:Modbus TCP</t></si><si><t>备用</t></si><si><t>Write</t></si><si><t>IP Address:192.168.0.1</t></si><si><t>Port:502</t></si><si><t>Modbus ID:1</t></si><si><t>Modbus Offset:1</t></si><si><t>舵机舱浸水报警</t></si><si><t>Read</t></si><si><t>设备舱浸水报警</t></si><si><r><rPr><sz val="10.5"/><color theme="1"/><rFont val="宋体"/><charset val="134"/></rPr><t>机舱</t></r><r><rPr><sz val="10.5"/><color theme="1"/><rFont val="Calibri"/><charset val="134"/></rPr><t>1</t></r><r><rPr><sz val="10.5"/><color theme="1"/><rFont val="宋体"/><charset val="134"/></rPr><t>浸水报警</t></r></si><si><r><rPr><sz val="10.5"/><color theme="1"/><rFont val="宋体"/><charset val="134"/></rPr><t>机舱</t></r><r><rPr><sz val="10.5"/><color theme="1"/><rFont val="Calibri"/><charset val="134"/></rPr><t>2</t></r><r><rPr><sz val="10.5"/><color theme="1"/><rFont val="宋体"/><charset val="134"/></rPr><t>浸水报警</t></r></si><si><t>监控室浸水报警</t></si><si><t>电池舱浸水报警</t></si><si><t>船员舱浸水报警</t></si><si><r><rPr><sz val="10.5"/><color theme="1"/><rFont val="Calibri"/><charset val="134"/></rPr><t>2</t></r><r><rPr><sz val="10.5"/><color theme="1"/><rFont val="宋体"/><charset val="134"/></rPr><t>号通道浸水报警</t></r></si><si><t>艏侧推舱浸水报警</t></si><si><t>艏尖舱浸水报警</t></si><si><t>电池舱温度报警</t></si><si><t>电池舱可燃气体报警</t></si><si><t>机舱可燃气体报警</t></si><si><t>火灾报警</t></si><si><t>水密门报警</t></si></sst>
|
||||
2
docs/xlsx_temp/xl/styles.xml
Normal file
2
docs/xlsx_temp/xl/styles.xml
Normal file
File diff suppressed because one or more lines are too long
2
docs/xlsx_temp/xl/theme/theme1.xml
Normal file
2
docs/xlsx_temp/xl/theme/theme1.xml
Normal file
File diff suppressed because one or more lines are too long
2
docs/xlsx_temp/xl/workbook.xml
Normal file
2
docs/xlsx_temp/xl/workbook.xml
Normal file
@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<workbook xmlns="http://schemas.openxmlformats.org/spreadsheetml/2006/main" xmlns:r="http://schemas.openxmlformats.org/officeDocument/2006/relationships" xmlns:dbsheet="http://web.wps.cn/et/2021/dbsheet"><fileVersion appName="xl" lastEdited="3" lowestEdited="5" rupBuild="9302"/><workbookPr/><bookViews><workbookView windowWidth="29870" windowHeight="15280"/></bookViews><sheets><sheet name="外部通讯协议" sheetId="2" r:id="rId1"/></sheets><definedNames><definedName name="_xlnm._FilterDatabase" localSheetId="0" hidden="1">外部通讯协议!#REF!</definedName></definedNames><calcPr calcId="191029"/><extLst><ext uri="{B58B0392-4F1F-4190-BB64-5DF3571DCE5F}" xmlns:xcalcf="http://schemas.microsoft.com/office/spreadsheetml/2018/calcfeatures"><xcalcf:calcFeatures><xcalcf:feature name="microsoft.com:RD"/><xcalcf:feature name="microsoft.com:Single"/><xcalcf:feature name="microsoft.com:FV"/><xcalcf:feature name="microsoft.com:CNMTM"/><xcalcf:feature name="microsoft.com:LET_WF"/><xcalcf:feature name="microsoft.com:LAMBDA_WF"/><xcalcf:feature name="microsoft.com:ARRAYTEXT_WF"/></xcalcf:calcFeatures></ext></extLst></workbook>
|
||||
2
docs/xlsx_temp/xl/worksheets/sheet1.xml
Normal file
2
docs/xlsx_temp/xl/worksheets/sheet1.xml
Normal file
File diff suppressed because one or more lines are too long
343
docs/协议refer.md
Normal file
343
docs/协议refer.md
Normal file
@ -0,0 +1,343 @@
|
||||
# 蓝牙协议
|
||||
|
||||
```
|
||||
/********************小程序 发数据到 BL**************************************/
|
||||
===========================================================
|
||||
|
||||
BE BB 02 00 XX
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 指定传感器进行初始化：01--六轴；02--地磁；03--气压计
|
||||
| | 进行传感器的初始化/校准
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
|
||||
BE BB 02 01 XX
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 01--左脚；02--右脚
|
||||
| | 设置传感器采集的是哪只脚
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
|
||||
BE BB 02 02 XX
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 01表示读六轴状态；02表示读地磁状态；03表示读气压计状态
|
||||
| | 读取传感器的状态
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
|
||||
BE BB 02 03 XX
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 01--开始；02--停止
|
||||
| | 采集数据并计算开始与停止
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
|
||||
BE BB 02 04 01
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 获取电量
|
||||
| | 获取电量
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
|
||||
BE BB 02 05 XX
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 01:100Hz；02:200Hz；03:400Hz
|
||||
| | 设置传感器采集频率
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
|
||||
BE BB 02 06 XX
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 00:禁用地磁，01:使能地磁
|
||||
| | 地磁使能指令
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
|
||||
BE BB 02 07 XX
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 00:禁用气压计，01:使能气压计
|
||||
| | 气压计使能指令
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
BE BB 01 09
|
||||
----- -- --
|
||||
| | |
|
||||
| | 开启地磁测试进程
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
BE BB 01 0A
|
||||
----- -- --
|
||||
| | |
|
||||
| | 关闭地磁测试进程
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
BE BB 01 0B
|
||||
----- -- --
|
||||
| | |
|
||||
| | 获取固件版本
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
BE BB 01 0C
|
||||
----- -- --
|
||||
| | |
|
||||
| | 获取rfid/uid
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
|
||||
BE BB 01 FF 扫描检测传感器
|
||||
----- -- --
|
||||
| | |
|
||||
| | 扫描检测传感器
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示小程序发数据到蓝牙板子
|
||||
|
||||
===============================================================
|
||||
|
||||
|
||||
/********************BL 发数据到小程序**************************************/
|
||||
============================================================
|
||||
|
||||
BB BE 02 00 XX
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 10：六轴未初始化；11：六轴初始化成功；20：地磁未初始化；21：地磁初始化成功；30：气压计未初始化；31：气压计初始化成功
|
||||
| | 返回传感器的初始化状态
|
||||
| 表示后面的数据长度
|
||||
包头：BE表示小程序，BB表示BL，表示蓝牙板子发数据到小程序
|
||||
|
||||
### 地磁校准流程
|
||||
|
||||
地磁传感器需要校准，发送 BLE 命令后进行"画八字"校准，校准数据会保存到 VM 中，掉电后再次上电会自动加载。
|
||||
|
||||
**发送命令：**
|
||||
```
|
||||
BE BB 02 00 02 // 启动地磁校准
|
||||
```
|
||||
|
||||
**BLE 反馈消息：**
|
||||
|
||||
| 消息 | 含义 | 说明 |
|
||||
|------|------|------|
|
||||
| BB BE 02 00 20 | 地磁初始化失败 | 传感器通信异常 |
|
||||
| BB BE 02 00 21 | 地磁初始化成功 | 传感器正常,即将进入校准状态 |
|
||||
| BB BE 02 00 22 | 提示开始校准 | 用户可以开始画八字 |
|
||||
| BB BE 02 00 23 | 校准中 | 循环发送，正在采集数据 |
|
||||
| BB BE 02 00 24 | 校准错误 | 数据范围不足，需重新画八字 |
|
||||
| BB BE 02 00 25 | 校准完成 | 校准成功，数据已保存到 VM |
|
||||
|
||||
**校准成功后的行为：**
|
||||
- 校准数据（offset_x, offset_y, offset_z）保存到 VM（CFG_MAG_CALIBRATION）
|
||||
- 再次上电自动从 VM 加载校准数据，无需重复校准
|
||||
|
||||
BB BE XX 00 XX.......
|
||||
----- -- -- --
|
||||
| | | |
|
||||
| | | 16组传感器数据。每一组30字节
|
||||
| | 数据包下标，0-255
|
||||
| 左/右脚数据
|
||||
包头：BE表示小程序，BB表示BL，表示蓝牙板子发数据到小程序
|
||||
|
||||
```
|
||||
|
||||
# 蓝牙助手设置
|
||||
|
||||
连接后，要先将蓝牙的MTU设置为最大，一般最大是512左右
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
右边的调试助手可以查看传输速率。
|
||||
|
||||
|
||||
|
||||
# 数据采集
|
||||
|
||||
先后发送：初始化三个传感器
|
||||
|
||||
- BE BB 02 00 01
|
||||
- 六轴初始化
|
||||
- 返回BB BE 02 00 11表示初始化成功
|
||||
- BE BB 02 00 02
|
||||
- 地磁初始化，等到返回BB BE 02 00 21表示初始化成功
|
||||
- BE BB 02 00 03
|
||||
- 气压计初始化，等到返回BB BE 02 00 31表示初始化成功
|
||||
|
||||
|
||||
设定数据来源：
|
||||
|
||||
- 发送：BE BB 02 01 XX
|
||||
- 01：左脚
|
||||
- 02：右脚
|
||||
- 返回数据：BB BE 06 05 XX
|
||||
- 41 -- 已设置为左脚；42 -- 已设置为右脚
|
||||
|
||||
开始采集，传感器通过蓝牙发送数据
|
||||
|
||||
- 发送：BE BB 02 03 01
|
||||
- 如果返回BB BE 02 00 00，说明有传感器没初始化成功，可以发BE BB 02 02 XX 查看传感器初始化状态
|
||||
|
||||
|
||||
一次完整的数据接收类似如下：
|
||||
|
||||
```c
|
||||
BE BB XX XX 后面每30字节为一组传感器数据，一个16组
|
||||
|
||||
一次蓝牙发送共计484字节
|
||||
第一个xx：左右脚标志，41左脚，42右脚
|
||||
第二个xx：数据包下标，0-255，每到255就会重置为0
|
||||
```
|
||||
|
||||
停止采集：
|
||||
|
||||
- BE BB 02 03 02
|
||||
|
||||
|
||||
|
||||
# 获取电量
|
||||
发送：BE BB 02 04 01
|
||||
- 返回的是百分比的电量值，如：
|
||||
- 0x57
|
||||
- 转为十进制为87，当前还剩87%的电量
|
||||
|
||||
# 开启地磁测试进程
|
||||
发送：BE BB 01 09
|
||||
- 返回地磁三轴 X Y Z数据，每轴4字节的float类型。
|
||||
- BB BE 0D 09 XX XX XX XX XX XX XX XX XX XX XX XX
|
||||
|
||||
|
||||
# 获取固件版本
|
||||
发送：BE BB 01 0B
|
||||
返回: BB BE 03 0B XX XX
|
||||
最后两字节就是版本号
|
||||
|
||||
|
||||
# 获取设备ID/RFID
|
||||
发送：BE BB 01 0C
|
||||
返回: BB BE 05 0C XX XX XX XX
|
||||
最后四字节位就是RFID，小端模式
|
||||
|
||||
|
||||
# 扫描检测传感器
|
||||
发送：BE BB 01 FF
|
||||
返回: 0xBB, 0xBE, 0x07, 0xFF, 0xXX, 0xXX, 0xXX, 0xXX, 0xXX, 0xXX
|
||||
最后6字节位对应扫描到的6个传感器，目前实际最多只有3个。
|
||||
|
||||
|
||||
# 采集速率修改
|
||||
|
||||
设置为100Hz：
|
||||
|
||||
- BE BB 02 05 01
|
||||
|
||||
设置200Hz：
|
||||
|
||||
- BE BB 02 05 02
|
||||
|
||||
设置400Hz：
|
||||
|
||||
- BE BB 02 05 03
|
||||
|
||||
|
||||
|
||||
# 数据解析
|
||||
|
||||
```c
|
||||
|
||||
//data：蓝牙拿到的数据，484字节长度
|
||||
void data_log(uint8_t* data){
|
||||
// 检查数据包头部
|
||||
if (data[0] != 0xBE || data[1] != 0xBB) {
|
||||
printf("Error: Invalid data packet header.\n");
|
||||
return;
|
||||
}
|
||||
|
||||
//左右脚
|
||||
uint8_t package_foot = data[2];
|
||||
|
||||
// 解析包索引
|
||||
uint8_t package_index = data[3];
|
||||
printf("--- Parsing Data Packet Index: %d ---\n", package_index);
|
||||
|
||||
uint8_t* p = &data[4]; // 指向数据负载的起始位置
|
||||
|
||||
// 循环解析16组数据
|
||||
for (int i = 0; i < MPU_FIFO_LEN; i++) {
|
||||
// 1. 解析六轴传感器数据 (12 bytes)
|
||||
int16_t imu_raw[6];
|
||||
for (int j = 0; j < 6; j++) {
|
||||
// 小端模式: 低字节在前, 高字节在后
|
||||
imu_raw[j] = (int16_t)(((uint16_t)p[1] << 8) | (uint16_t)p[0]);
|
||||
p += 2;
|
||||
}
|
||||
float acc_g[3];
|
||||
float gyr_dps[3];
|
||||
acc_g[0] = (float)imu_raw[0] / 2048.0f;
|
||||
acc_g[1] = (float)imu_raw[1] / 2048.0f;
|
||||
acc_g[2] = (float)imu_raw[2] / 2048.0f;
|
||||
gyr_dps[0] = (float)imu_raw[3] * 0.061f;
|
||||
gyr_dps[1] = (float)imu_raw[4] * 0.061f;
|
||||
gyr_dps[2] = (float)imu_raw[5] * 0.061f;
|
||||
|
||||
// 2. 解析地磁传感器数据 (12 bytes)
|
||||
int32_t mag_raw[3];
|
||||
for (int j = 0; j < 3; j++) {
|
||||
// 小端模式
|
||||
mag_raw[j] = (int32_t)(((uint32_t)p[3] << 24) | ((uint32_t)p[2] << 16) | ((uint32_t)p[1] << 8) | (uint32_t)p[0]);
|
||||
p += 4;
|
||||
}
|
||||
float mag_gauss[3];
|
||||
mag_gauss[0] = (float)mag_raw[0] / 1000.0f;
|
||||
mag_gauss[1] = (float)mag_raw[1] / 1000.0f;
|
||||
mag_gauss[2] = (float)mag_raw[2] / 1000.0f;
|
||||
|
||||
// 3. 解析温度数据 (2 bytes)
|
||||
int16_t temp_raw = (int16_t)(((uint16_t)p[1] << 8) | (uint16_t)p[0]);
|
||||
p += 2;
|
||||
float temperature = (float)temp_raw / 1000.0f;
|
||||
|
||||
// 4. 解析气压数据 (4 bytes)
|
||||
uint32_t press_raw = (uint32_t)(((uint32_t)p[3] << 24) | ((uint32_t)p[2] << 16) | ((uint32_t)p[1] << 8) | (uint32_t)p[0]);
|
||||
p += 4;
|
||||
float pressure = (float)press_raw / 1000.0f;
|
||||
|
||||
// 打印解析后的数据
|
||||
if(i % 8 == 0){
|
||||
printf("Package[%d]:====================\n", i);
|
||||
printf(" ACC(g): x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
|
||||
printf(" GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
|
||||
printf(" MAG(Gs): x=%.3f, y=%.3f, z=%.3f\n", mag_gauss[0], mag_gauss[1], mag_gauss[2]);
|
||||
printf(" TEMP(C): %.3f, PRESS(Pa): %.3f\n", temperature, pressure);
|
||||
}
|
||||
|
||||
}
|
||||
printf("--- End of Packet ---\n\n");
|
||||
}
|
||||
```
|
||||
|
||||
BIN
docs/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
BIN
docs/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
Binary file not shown.
@ -285,7 +285,7 @@ void CmdRouter_Init(void);
|
||||
/**
|
||||
* @brief 向指定端口的解析器喂入数据
|
||||
* @note 由UART中断回调调用，线程安全
|
||||
* @param port_id: 端口ID (PORT_UART1/PORT_UART2/PORT_UART3)
|
||||
* @param port_id: 端口ID (PORT_433/PORT_DEBUG/PORT_RS485)
|
||||
* @param byte: 接收到的字节
|
||||
* @param current_tick: 系统时间戳
|
||||
* @retval 无
|
||||
@ -325,9 +325,9 @@ void CmdRouter_SendResponseFmt(port_id_t port_id, const char *fmt, ...);
|
||||
```c
|
||||
/** 端口ID枚举 */
|
||||
typedef enum {
|
||||
PORT_UART1 = 0, /**< RF433模块 */
|
||||
PORT_UART2 = 1, /**< 调试串口 */
|
||||
PORT_UART3 = 2, /**< RS485模块 */
|
||||
PORT_433 = 0, /**< RF433模块 */
|
||||
PORT_DEBUG = 1, /**< 调试串口 */
|
||||
PORT_RS485 = 2, /**< RS485模块 */
|
||||
PORT_COUNT
|
||||
} port_id_t;
|
||||
|
||||
@ -396,18 +396,18 @@ void CmdParser_SetResponseCallback(response_callback_t callback);
|
||||
* @note 静态表，根据port_id索引查找对应UART句柄
|
||||
*/
|
||||
static UART_HandleTypeDef* const g_port_uart_map[PORT_COUNT] = {
|
||||
[PORT_UART1] = &huart1, // RF433
|
||||
[PORT_UART2] = &huart2, // DEBUG
|
||||
[PORT_UART3] = &huart3, // RS485
|
||||
[PORT_433] = &huart1, // RF433
|
||||
[PORT_DEBUG] = &huart2, // DEBUG
|
||||
[PORT_RS485] = &huart3, // RS485
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 端口名称表（用于日志输出）
|
||||
*/
|
||||
static const char* const g_port_name_map[PORT_COUNT] = {
|
||||
[PORT_UART1] = "UART1",
|
||||
[PORT_UART2] = "UART2",
|
||||
[PORT_UART3] = "UART3",
|
||||
[PORT_433] = "UART1",
|
||||
[PORT_DEBUG] = "UART2",
|
||||
[PORT_RS485] = "UART3",
|
||||
};
|
||||
```
|
||||
|
||||
@ -650,9 +650,9 @@ void Configure_UART_Priorities(void)
|
||||
#include "cmd_parser.h"
|
||||
|
||||
typedef enum {
|
||||
PORT_UART1 = 0,
|
||||
PORT_UART2 = 1,
|
||||
PORT_UART3 = 2,
|
||||
PORT_433 = 0,
|
||||
PORT_DEBUG = 1,
|
||||
PORT_RS485 = 2,
|
||||
PORT_COUNT
|
||||
} port_id_t;
|
||||
|
||||
@ -683,7 +683,7 @@ void MultiUART_SendString(port_id_t port_id, const char *str);
|
||||
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
|
||||
{
|
||||
if (huart->Instance == USART1) {
|
||||
MultiUART_FeedByte(PORT_UART1, rf433_uart_rx_tmp, HAL_GetTick());
|
||||
MultiUART_FeedByte(PORT_433, rf433_uart_rx_tmp, HAL_GetTick());
|
||||
HAL_UART_Receive_IT(&huart1, &rf433_uart_rx_tmp, 1);
|
||||
}
|
||||
// ... 其他端口保持原样 ...
|
||||
|
||||
111
docs/报文.md
Normal file
111
docs/报文.md
Normal file
@ -0,0 +1,111 @@
|
||||
# BOAT DTU 无线通信协议 (RF433)
|
||||
|
||||
本文档采用直观图示方式定义 BOAT DTU 在 433MHz 无线频段的报文格式。
|
||||
|
||||
## 1. 通用报文结构图示
|
||||
|
||||
所有无线报文均遵循以下结构：
|
||||
|
||||
```text
|
||||
AA TYPE LEN ID [PAYLOAD] SUM
|
||||
-- ---- --- -- --------- ---
|
||||
| | | | | |
|
||||
| | | | | +-- 校验和：从 AA 到 PAYLOAD 结束的所有字节累加和 (取低8位)
|
||||
| | | | +---------- 载荷数据：具体的业务数据内容
|
||||
| | | +------------------ 设备 ID：当前发送设备的唯一标识 (MY_DEVICE_ID)
|
||||
| | +---------------------- 长度：指明后续 [ID + PAYLOAD + SUM] 的总字节数
|
||||
| +--------------------------- 数据类型：区分数据来源 (10, 55, 48, AA)
|
||||
+-------------------------------- 起始符：固定为 0xAA
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 2. 详细指令集定义
|
||||
|
||||
### 2.1 报警状态变化上报 (主动上报)
|
||||
当 Modbus RTU 轮询到的报警状态发生变化时，立即发送此包。
|
||||
格式与原 DI 变化通知完全一致，上位机代码无需修改。
|
||||
|
||||
```text
|
||||
AA 10 03 ID XX SUM
|
||||
-- -- -- -- -- ---
|
||||
| | | | | |
|
||||
| | | | | +-- 校验和
|
||||
| | | | +------ 报警状态字节 (Bit0:火灾, Bit1:水密门, Bit2:舱底水, Bit3:气体检测)
|
||||
| | | +---------- 本机设备 ID
|
||||
| | +-------------- 长度固定为 0x03 (ID + 1字节状态 + SUM)
|
||||
| +------------------ 类型标识：0x10 (Alarm Data)
|
||||
+---------------------- 固定起始符
|
||||
```
|
||||
|
||||
### 2.2 RS485 透传数据包
|
||||
将 RS485 接口收到的原始串口数据封装后发出。
|
||||
|
||||
```text
|
||||
AA 48 LEN ID [DATA] SUM
|
||||
-- -- --- -- ------ ---
|
||||
| | | | | |
|
||||
| | | | | +-- 校验和
|
||||
| | | | +--------- RS485 原始数据内容
|
||||
| | | +--------------- 本机设备 ID
|
||||
| | +------------------- 长度：(1 + 原始数据长度 + SUM)
|
||||
| +----------------------- 类型标识：0x48 (RS485 Data)
|
||||
+--------------------------- 固定起始符
|
||||
```
|
||||
|
||||
### 2.3 W5500 网络透传数据包
|
||||
将以太网口收到的 UDP/TCP 原始数据封装后发出。
|
||||
|
||||
```text
|
||||
AA 55 LEN ID [DATA] SUM
|
||||
-- -- --- -- ------ ---
|
||||
| | | | | |
|
||||
| | | | | +-- 校验和
|
||||
| | | | +--------- 网络原始数据内容
|
||||
| | | +--------------- 本机设备 ID
|
||||
| | +------------------- 长度：(1 + 原始数据长度 + SUM)
|
||||
| +----------------------- 类型标识：0x55 (Net Data)
|
||||
+--------------------------- 固定起始符
|
||||
```
|
||||
|
||||
### 2.4 系统心跳包 (30秒/次)
|
||||
系统定时上报当前存活状态，包含报警状态、防丢包序列号、固件版本及 Modbus TCP 寄存器值。
|
||||
|
||||
#### 2.4.1 标准心跳包 (7字节Payload)
|
||||
|
||||
```text
|
||||
AA AA 09 ID [SEQ_H] [SEQ_L] [FW_H] [FW_L] [RTU] [TCP_H] [TCP_L] SUM
|
||||
-- -- -- -- --------------- ------------- ----- --------------- ---
|
||||
| | | | | | | | |
|
||||
| | | | | | | | +-- 校验和
|
||||
| | | | | | | +-------------- Modbus TCP 寄存器值
|
||||
| | | | | | +--------------------------- Modbus RTU 报警状态
|
||||
| | | | | | Bit0:火灾 Bit1:水密门
|
||||
| | | | | | Bit2:舱底水 Bit3:气体检测
|
||||
| | | | | +---------------------------------------- 2字节固件版本编码
|
||||
| | | | +------------------------------------------------------- 2字节序列号 (0-65535)
|
||||
| | | +------------------------------------------------------------------ 1字节本机设备 ID
|
||||
| | +----------------------------------------------------------------------- LEN = 0x09 (9)
|
||||
| +--------------------------------------------------------------------------- 类型 0xAA
|
||||
+------------------------------------------------------------------------------- 固定起始符
|
||||
```
|
||||
|
||||
**Payload 字段说明：**
|
||||
| 偏移 | 字段 | 长度 | 说明 |
|
||||
|------|------|------|------|
|
||||
| 0-1 | SEQ | 2 | 2字节序列号 (0-65535, 循环自增) |
|
||||
| 2-3 | FW | 2 | 2字节固件版本编码 (MAKE_XTELL_CODE 宏定义) |
|
||||
| 4 | RTU | 1 | Modbus RTU 报警状态 (Bit0:火灾, Bit1:水密门, Bit2:舱底水, Bit3:气体检测) |
|
||||
| 5-6 | TCP | 2 | Modbus TCP 寄存器值 (0xFFFF 表示无效) |
|
||||
|
||||
---
|
||||
|
||||
## 3. 示例说明 (假设 Device ID = 0x69 = 105)
|
||||
|
||||
* **报警变化通知示例**：`AA 10 03 69 0F [SUM]`
|
||||
* 表示：ID为105的设备，报警状态 = 0x0F (火灾+水密门+舱底水+气体检测 全部激活)
|
||||
* **心跳包示例**：`AA AA 09 69 00 05 06 41 0F 01 2C [SUM]`
|
||||
* 表示：ID=105，序列号5，固件版本 0x0641 (2026年5月10日第1次编译)，
|
||||
* RTU报警=0x0F(全报警)，Modbus TCP=0x012C(300)（7字节payload）
|
||||
* **485透传示例**：`AA 48 05 69 41 42 43 44 4D`
|
||||
* 表示：ID为105的设备，转发了 485 数据 "ABCD" (长度 4+1=5)。
|
||||
62
python3/modbus_client_sim.py
Normal file
62
python3/modbus_client_sim.py
Normal file
@ -0,0 +1,62 @@
|
||||
import socket
|
||||
import struct
|
||||
import time
|
||||
|
||||
# 配置信息
|
||||
SERVER_IP = '127.0.0.1' # 模拟本地回路
|
||||
PORT = 502
|
||||
UNIT_ID = 1
|
||||
REG_ADDR = 30 # 逻辑 40031
|
||||
|
||||
def poll_register():
|
||||
# 1. 构造 Modbus TCP 请求 (Function Code 03)
|
||||
tid = 0x0001
|
||||
pid = 0x0000
|
||||
length = 6 # 后续字节长度 (UnitID 1 + PDU 5)
|
||||
uid = UNIT_ID
|
||||
|
||||
fc = 0x03
|
||||
addr = REG_ADDR
|
||||
qty = 1
|
||||
|
||||
# [MBAP Header] + [PDU]
|
||||
request = struct.pack('>HHHB', tid, pid, length, uid) + \
|
||||
struct.pack('>BHH', fc, addr, qty)
|
||||
|
||||
try:
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
|
||||
s.settimeout(2.0)
|
||||
s.connect((SERVER_IP, PORT))
|
||||
print(f"[TX] 发送请求: {request.hex(' ')}")
|
||||
s.sendall(request)
|
||||
|
||||
# 2. 接收响应
|
||||
response = s.recv(1024)
|
||||
if not response:
|
||||
print("[!] 服务器关闭了连接")
|
||||
return
|
||||
|
||||
print(f"[RX] 收到响应: {response.hex(' ')}")
|
||||
|
||||
if len(response) >= 9: # MBAP(7) + FC(1) + ByteCount(1)
|
||||
# 解析响应
|
||||
header = response[:7]
|
||||
pdu = response[7:]
|
||||
|
||||
res_tid, res_pid, res_len, res_uid = struct.unpack('>HHHB', header)
|
||||
res_fc = pdu[0]
|
||||
byte_count = pdu[1]
|
||||
reg_value = struct.unpack('>H', pdu[2:4])[0]
|
||||
|
||||
print(f"[+] 解析成功!")
|
||||
print(f" - 事务ID: {res_tid}")
|
||||
print(f" - 寄存器 {REG_ADDR} 的值: {hex(reg_value)} ({reg_value})")
|
||||
else:
|
||||
print("[!] 响应长度不足")
|
||||
|
||||
except Exception as e:
|
||||
print(f"[!] 连接错误: {e}")
|
||||
|
||||
if __name__ == "__main__":
|
||||
print("[*] Python Modbus TCP 客户端模拟启动...")
|
||||
poll_register()
|
||||
122
python3/modbus_server_sim.py
Normal file
122
python3/modbus_server_sim.py
Normal file
@ -0,0 +1,122 @@
|
||||
import socket
|
||||
import struct
|
||||
import sys
|
||||
import msvcrt
|
||||
import datetime
|
||||
|
||||
# 配置信息
|
||||
HOST = '0.0.0.0' # 监听所有接口
|
||||
PORT = 502 # Modbus TCP 标准端口
|
||||
UNIT_ID = 1 # 目标 Unit ID
|
||||
|
||||
# 模拟寄存器存储 (30号地址 -> 40031逻辑地址)
|
||||
registers = {
|
||||
30: 0xABCD # 初始模拟值
|
||||
}
|
||||
|
||||
def get_time():
|
||||
"""获取当前格式化时间"""
|
||||
return datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3]
|
||||
|
||||
def handle_client(conn, addr):
|
||||
print(f"[{get_time()}] [*] 客户端已连接: {addr}")
|
||||
conn.settimeout(1.0)
|
||||
while True:
|
||||
try:
|
||||
data = conn.recv(1024)
|
||||
if not data:
|
||||
break
|
||||
|
||||
# 记录接收到的原始报文
|
||||
print(f"[{get_time()}] [RAW] 收到原始报文: {data.hex(' ')}")
|
||||
|
||||
if len(data) < 7:
|
||||
print(f"[{get_time()}] [!] 报文长度不足 7 字节")
|
||||
continue
|
||||
|
||||
tid, pid, length, uid = struct.unpack('>HHHB', data[:7])
|
||||
pdu = data[7:]
|
||||
|
||||
if len(pdu) < 5:
|
||||
print(f"[{get_time()}] [!] PDU 长度不足")
|
||||
continue
|
||||
|
||||
func_code = pdu[0]
|
||||
if func_code == 0x03:
|
||||
start_addr, qty = struct.unpack('>HH', pdu[1:5])
|
||||
print(f"[{get_time()}] [REQ] 读取保持寄存器: 起始地址={start_addr}, 数量={qty}, UnitID={uid}")
|
||||
|
||||
payload = b''
|
||||
for i in range(qty):
|
||||
val = registers.get(start_addr + i, 0)
|
||||
payload += struct.pack('>H', val)
|
||||
|
||||
resp_pdu = struct.pack('B', func_code) + struct.pack('B', len(payload)) + payload
|
||||
resp_length = len(resp_pdu) + 1
|
||||
resp_header = struct.pack('>HHHB', tid, pid, resp_length, uid)
|
||||
|
||||
conn.sendall(resp_header + resp_pdu)
|
||||
print(f"[{get_time()}] [RES] 已发送响应: {payload.hex(' ')}")
|
||||
else:
|
||||
print(f"[{get_time()}] [!] 不支持的功能码: {func_code}")
|
||||
|
||||
except socket.timeout:
|
||||
# 检查是否有退出按键
|
||||
if msvcrt.kbhit():
|
||||
if msvcrt.getch().decode('utf-8', errors='ignore').lower() == 'q':
|
||||
return True
|
||||
continue
|
||||
except Exception as e:
|
||||
print(f"[{get_time()}] [!] 错误: {e}")
|
||||
break
|
||||
conn.close()
|
||||
print(f"[{get_time()}] [*] 客户端连接已断开: {addr}")
|
||||
return False
|
||||
|
||||
def main():
|
||||
# 从命令行参数获取寄存器 30 的初始值
|
||||
if len(sys.argv) > 1:
|
||||
try:
|
||||
val_str = sys.argv[1]
|
||||
if val_str.startswith('0x'):
|
||||
registers[30] = int(val_str, 16)
|
||||
else:
|
||||
registers[30] = int(val_str)
|
||||
except ValueError:
|
||||
print(f"[!] 警告: 无效的参数 '{sys.argv[1]}'，使用默认值 {hex(registers[30])}")
|
||||
|
||||
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
|
||||
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
||||
s.settimeout(1.0)
|
||||
|
||||
try:
|
||||
s.bind((HOST, PORT))
|
||||
except PermissionError:
|
||||
print(f"[!] 错误: 无法绑定 {PORT} 端口。请尝试使用管理员权限运行。")
|
||||
return
|
||||
|
||||
s.listen()
|
||||
print(f"[{get_time()}] [*] Modbus TCP 模拟服务端启动，监听 {PORT} 端口...")
|
||||
print(f"[{get_time()}] [*] 寄存器 30 (40031) 当前值: {hex(registers[30])}")
|
||||
print("[*] 提示: 随时按下 'q' 键退出程序")
|
||||
|
||||
should_exit = False
|
||||
while not should_exit:
|
||||
if msvcrt.kbhit():
|
||||
if msvcrt.getch().decode('utf-8', errors='ignore').lower() == 'q':
|
||||
print("\n[*] 检测到 'q' 键，正在退出...")
|
||||
break
|
||||
|
||||
try:
|
||||
conn, addr = s.accept()
|
||||
should_exit = handle_client(conn, addr)
|
||||
except socket.timeout:
|
||||
continue
|
||||
except KeyboardInterrupt:
|
||||
print("\n[*] 正在停止服务端...")
|
||||
break
|
||||
|
||||
s.close()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user