新增线轴控制板工程

3 days ago · 3b944f95c3
7 changed files with 617 additions and 0 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -119,6 +119,7 @@ add_module(lua lua OFF ON)
 add_module(bspMCU bspMCU OFF OFF)
 add_module(RBcore RBcore OFF OFF)
 add_module(optional optional OFF OFF)
+add_module(Spoolend Spoolend OFF OFF)

 if(A_BUILD_MAIN)
    add_subdirectory(main)
--- a/Spoolend/CMakeLists.txt
+++ b/Spoolend/CMakeLists.txt
@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.10)
+
+set(COMMON_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../library/CMakeLists.txt")
+
+if(EXISTS ${COMMON_CMAKE_PATH})
+    include(${COMMON_CMAKE_PATH})
+else()
+    message(FATAL_ERROR "Cannot find common build logic at ${COMMON_CMAKE_PATH}")
+endif()
+
+if(TARGET bspMCU)
+    target_link_libraries(Spoolend PUBLIC bspMCU)
+else()
+    message(WARNING "[Spoolend] Dependency 'bspMCU' not found.")
+endif()
--- a/Spoolend/Spoolend.c
+++ b/Spoolend/Spoolend.c
@ -0,0 +1,96 @@
+/******************************************************************************
+
+                  版权所有 (C), 2018-2099, Radkil
+
+ ******************************************************************************
+  文 件 名   : Spoolend.c
+  版 本 号   : 初稿
+  作    者   : radkil
+  生成日期   : 2026年6月10日
+  最近修改   :
+  功能描述   : 线轴端控制板
+  
+  修改历史   :
+  1.日    期   : 2026年6月10日
+    作    者   : radkil
+    修改内容   : 创建文件
+
+******************************************************************************/
+
+/*----------------------------------------------*
+ * 外部变量说明                                 *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 外部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 内部函数原型说明                             *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 全局变量                                     *
+ *----------------------------------------------*/
+TComCtrl *g_ptRS485_1; 
+TComCtrl *g_ptRS485_2; 
+
+/*----------------------------------------------*
+ * 模块级变量                                   *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 常量定义                                     *
+ *----------------------------------------------*/
+
+/*----------------------------------------------*
+ * 宏定义                                       *
+ *----------------------------------------------*/
+
+int RS485_1_Send(char *_pBuffer, uint32_t _iSize)
+{
+    HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_SET);
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_1->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    HAL_GPIO_WritePin(RS485_1_DIR_GPIO_Port, RS485_1_DIR_Pin, GPIO_PIN_RESET);
+    return iRet;
+}
+
+int RS485_2_Send(char *_pBuffer, uint32_t _iSize)
+{
+    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_SET);
+    TUartUserData *ptUartUserData = (TUartUserData *)g_ptRS485_2->m_pUserData;
+    int iRet = HAL_UART_Transmit(ptUartUserData->m_uart, (uint8_t *)_pBuffer, _iSize, 100);
+    HAL_GPIO_WritePin(RS485_2_DIR_GPIO_Port, RS485_2_DIR_Pin, GPIO_PIN_RESET);
+    return iRet;
+}
+
+#ifndef CONFIG_UART_IT_IDLEDMA
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
+{
+    if (huart->Instance == LPUART1)
+	{
+    	UART_RX_IRQHandler(g_ptRS485_1);
+	}
+    else if (huart->Instance == USART1)
+    {
+        UART_RX_IRQHandler(g_ptRS485_2);
+    }
+}
+#endif
+
+void SpoolendInit(void)
+{
+    TUartUserData *ptUartUserData = UART_userdata_init(0, -1, 512);    
+    g_ptRS485_1 = rd_ComCreate(check_MK32Data, decode_MK32Data, E28_SBUS_Send, ptUartUserData->m_buf_size, ptUartUserData);
+    UART_IT_init(g_ptRS485_1);
+    TUartUserData *ptUartUserData1 = UART_userdata_init(0, -1, 512);    
+    g_ptRS485_1 = rd_ComCreate(check_MK32Data, decode_MK32Data, E28_SBUS_Send, ptUartUserData1->m_buf_size, ptUartUserData1);
+    UART_IT_init(g_ptRS485_1);
+}
+
+void SpoolendTask(void)
+{
+
+}
+
--- a/Spoolend/flash_operation.c
+++ b/Spoolend/flash_operation.c
@ -0,0 +1,105 @@
+#include "flash_operation.h"
+
+void Flash_InitInternal(void)
+{
+    // 解锁Flash
+    HAL_FLASH_Unlock();
+
+    // 设置Flash延迟
+    __HAL_FLASH_SET_LATENCY(FLASH_LATENCY_4);
+
+    // 清除所有错误标志
+    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_ALL_ERRORS);
+}
+
+uint32_t GetFlashPage(uint32_t address)
+{
+    return (address - FLASH_BASE_ADDRESS) / FLASH_PAGE_SIZE;
+}
+
+HAL_StatusTypeDef WriteParametersToFlash(int16_t* parameters)
+{
+    HAL_StatusTypeDef status = HAL_OK;
+    uint32_t flash_address = DATA_FLASH_ADDRESS;
+    uint32_t primask_bit;
+
+    // 关闭全局中断
+    primask_bit = __get_PRIMASK();
+    __disable_irq();
+
+    // 内部初始化Flash
+    Flash_InitInternal();
+
+    // 擦除Flash页
+    FLASH_EraseInitTypeDef erase_init;
+    uint32_t page_error = 0;
+
+    erase_init.TypeErase = FLASH_TYPEERASE_PAGES;
+    erase_init.Banks = FLASH_BANK_1;
+    erase_init.Page = GetFlashPage(DATA_FLASH_ADDRESS);
+    erase_init.NbPages = 1;
+
+    // 执行擦除
+    if (HAL_FLASHEx_Erase(&erase_init, &page_error) != HAL_OK)
+    {
+        HAL_FLASH_Lock();
+        // 恢复中断状态
+        if (!primask_bit) {
+            __enable_irq();
+        }
+        return HAL_ERROR;
+    }
+
+    // 写入4个int16_t数据
+    for (int i = 0; i < PARAM_COUNT; i++)
+    {
+        // 每次写入64位数据（4个int16_t）
+        if (i % 4 == 0)
+        {
+            uint64_t combined_data = 0;
+
+            // 组合4个int16_t到一个uint64_t
+            for (int j = 0; j < 4 && (i + j) < PARAM_COUNT; j++)
+            {
+                combined_data |= ((uint64_t)((uint16_t)parameters[i + j]) << (j * 16));
+            }
+
+            // 写入组合后的数据
+            if (HAL_FLASH_Program(FLASH_TYPEPROGRAM_DOUBLEWORD,
+                                 flash_address + (i * sizeof(int16_t)),
+                                 combined_data) != HAL_OK)
+            {
+                status = HAL_ERROR;
+                break;
+            }
+        }
+    }
+
+    // 锁定Flash
+    HAL_FLASH_Lock();
+
+    // 恢复中断状态
+    if (!primask_bit) {
+        __enable_irq();
+    }
+
+    return status;
+}
+
+void ReadParametersFromFlash(int16_t* parameters)
+{
+    uint32_t flash_address = DATA_FLASH_ADDRESS;
+
+    // 内部初始化Flash（主要是解锁和配置）
+    Flash_InitInternal();
+
+    // 从Flash读取数据
+    for (int i = 0; i < PARAM_COUNT; i++)
+    {
+        // 读取int16_t数据
+        parameters[i] = *(int16_t*)(flash_address + (i * sizeof(int16_t)));
+    }
+
+    // 锁定Flash（虽然读取不需要锁定，但为了对称性）
+    HAL_FLASH_Lock();
+}
--- a/Spoolend/include/flash_operation.h
+++ b/Spoolend/include/flash_operation.h
@ -0,0 +1,17 @@
+#ifndef FLASH_OPERATION_H
+#define FLASH_OPERATION_H
+
+#include "stm32g4xx_hal.h"
+
+/* 定义Flash存储地址 - 使用最后一页 */
+#define FLASH_BASE_ADDRESS    0x08000000
+//#define FLASH_SIZE            (128 * 1024)        // 128KB
+//#define FLASH_PAGE_SIZE       0x800               // 2KB per page
+#define DATA_FLASH_ADDRESS    (FLASH_BASE_ADDRESS + FLASH_SIZE - FLASH_PAGE_SIZE)  // 最后一页
+#define PARAM_COUNT          12
+
+/* 函数声明 */
+HAL_StatusTypeDef WriteParametersToFlash(int16_t* parameters);
+void ReadParametersFromFlash(int16_t* parameters);
+
+#endif
--- a/Spoolend/include/modbus.h
+++ b/Spoolend/include/modbus.h
@ -0,0 +1,60 @@
+/*
+ * modbus.h
+ *
+ *  Created on: Jul 3, 2025
+ *      Author: shiyanlei
+ */
+
+#ifndef __MODBUS_SLAVE_H
+#define __MODBUS_SLAVE_H
+
+#include "stm32g4xx_hal.h"
+/* 定义Modbus相关参数 */
+#define MODBUS_SLAVE_ADDRESS 0x34
+#define MODBUS_FUNCTION_CODE_03 0x03
+#define MODBUS_FUNCTION_CODE_06 0x06
+#define MODBUS_FUNCTION_CODE_10 0x10  // 写多个寄存器功能码
+#define MODBUS_BUFFER_SIZE 256
+#define MODBUS_TIMEOUT_MS 2
+#define MODBUS_CRC_OFF 0 //==1关闭CRC校验
+/* 定义寄存器相关参数 */
+#define REGISTER_START_ADDRESS 0x0000
+//#define REGISTER_COUNT 10
+#define REGISTER_COUNT 12
+
+extern uint16_t holdingRegisters[REGISTER_COUNT];
+extern uint8_t RS485_1_RX;
+extern uint8_t RS485_1_Host_Existed;
+
+#define registerWritable_0 1
+#define registerWritable_1 1
+#define registerWritable_2 1
+#define registerWritable_3 1
+#define registerWritable_4 1
+#define registerWritable_5 1
+#define registerWritable_6 1
+#define registerWritable_7 1
+#define registerWritable_8 1
+#define registerWritable_9 1
+#define registerWritable_10 1
+#define registerWritable_11 1
+
+
+//holdingRegisters[0]= motor_cmd //0:stop	1:forward	2:reverse
+//holdingRegisters[1]= HX711_A_F //int16_t 10g
+//holdingRegisters[2]= HX711_K   //uint16_t
+//holdingRegisters[3]= HX711_D   //int16_t 1g
+//holdingRegisters[4]= HX711_B_F //int16_t 10g
+
+
+
+extern void MB_WriteHoldingReg(uint8_t _addr,
+		uint16_t _reg, uint16_t _data);
+
+/* 初始化Modbus从机 */
+void Modbus_Init(void);
+
+/* 处理Modbus消息 */
+void Modbus_Process(void);
+
+#endif /* __MODBUS_SLAVE_H */
--- a/Spoolend/modbus.c
+++ b/Spoolend/modbus.c
@ -0,0 +1,323 @@
+#include "stm32g4xx_hal.h"
+#include <stdint.h>
+#include <stdbool.h>
+#include "modbus.h"
+#include "usart.h"
+void Modbus_Master_Send(uint8_t *data, uint8_t length);
+uint16_t holdingRegisters[REGISTER_COUNT] = { 0x0032, 0x0032, 0x0032, 0x0032,
+		0x0032, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000 };
+
+// 寄存器可写标志位（1:可写，0:只读）
+uint8_t registerWritable[REGISTER_COUNT] = { registerWritable_0,
+registerWritable_1, registerWritable_2, registerWritable_3,
+registerWritable_4, registerWritable_5, registerWritable_6,
+registerWritable_7,
+registerWritable_8, registerWritable_9, registerWritable_10,
+registerWritable_11 };
+
+/* 全局变量 */
+uint8_t modbusBuffer[MODBUS_BUFFER_SIZE];
+uint8_t modbus_master_Buffer[MODBUS_BUFFER_SIZE];
+uint8_t modbus_master_BufferIndex = 0;
+uint32_t last_master_ByteTime = 0;
+uint8_t modbusBufferIndex = 0;
+uint32_t lastByteTime = 0;
+bool messageComplete = false;
+uint8_t master_tx_buf[256];
+uint8_t response[256];
+uint8_t RS485_1_RX = 0;
+uint8_t RS485_1_Host_Existed = 0;
+
+char dmk_read_state=0;
+/* 函数声明 */
+void Modbus_Init(void);
+void Modbus_Process(void);
+void Modbus_SendResponse(uint8_t *data, uint8_t length);
+void Modbus_HandleFunction03(uint16_t startAddress, uint16_t registerCount);
+void Modbus_HandleFunction06(uint16_t registerAddress, uint16_t value);
+void Modbus_HandleFunction10(uint16_t startAddress, uint16_t registerCount,
+		uint8_t *data);
+void Modbus_SendExceptionResponse(uint8_t exceptionCode);
+uint16_t CalculateCRC(uint8_t *data, uint8_t length);
+
+/* 初始化函数 */
+void Modbus_Init(void) {
+	/* 初始化UART */
+	/* 配置RS485方向控制引脚 */
+	HAL_UART_Receive_IT(&huart1, (uint8_t*) &modbusBuffer[modbusBufferIndex],
+			1);
+
+	HAL_UART_Receive_IT(&huart2,
+			(uint8_t*) &modbus_master_Buffer[modbus_master_BufferIndex], 1);
+}
+
+/* Modbus处理函数 - 应在主循环中调用 */
+void Modbus_Process(void) {
+	uint16_t startAddress = 0;
+	uint16_t registerCount = 0;
+	if (modbusBufferIndex
+			> 0&& (HAL_GetTick() - lastByteTime) > MODBUS_TIMEOUT_MS) {
+		/* 超时，标记消息完成 */
+		messageComplete = true;
+	}
+	if (messageComplete) {
+		uint16_t crcReceived = (modbusBuffer[modbusBufferIndex - 1] << 8)
+				| modbusBuffer[modbusBufferIndex - 2];
+		uint16_t crcCalculated = CalculateCRC(modbusBuffer,
+				modbusBufferIndex - 2);
+
+		if (MODBUS_CRC_OFF || crcReceived == crcCalculated) {
+			RS485_1_Host_Existed = 1;
+
+			if (modbusBuffer[0] == MODBUS_SLAVE_ADDRESS) {
+				RS485_1_RX = 1;
+				switch (modbusBuffer[1]) {
+				case MODBUS_FUNCTION_CODE_03:
+					startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3];
+					registerCount = (modbusBuffer[4] << 8) | modbusBuffer[5];
+					Modbus_HandleFunction03(startAddress, registerCount);
+					break;
+				case MODBUS_FUNCTION_CODE_06:
+					startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3];
+					uint16_t value = (modbusBuffer[4] << 8) | modbusBuffer[5];
+					Modbus_HandleFunction06(startAddress, value);
+					break;
+				case MODBUS_FUNCTION_CODE_10:
+					startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3];
+					registerCount = (modbusBuffer[4] << 8) | modbusBuffer[5];
+					uint8_t byteCount = modbusBuffer[6];
+					// 检查数据长度是否正确
+					if (byteCount == registerCount * 2
+							&& modbusBufferIndex - 2 >= 7 + byteCount) { // 7是功能码10的固定头部长度
+						Modbus_HandleFunction10(startAddress, registerCount,
+								&modbusBuffer[7]);
+					} else {
+						Modbus_SendExceptionResponse(0x03);  // 数据长度错误
+					}
+					break;
+				default:
+					Modbus_SendExceptionResponse(0x01); // 不支持的功能码
+					break;
+
+				}
+			}
+		}
+
+		/* 重置缓冲区 */
+		modbusBufferIndex = 0;
+		messageComplete = false;
+	}
+}
+
+/* 处理功能码03 */
+void Modbus_HandleFunction03(uint16_t startAddress, uint16_t registerCount) {
+	/* 检查地址和数量是否合法 */
+	if (startAddress < REGISTER_START_ADDRESS
+			|| startAddress + registerCount
+					> REGISTER_START_ADDRESS + REGISTER_COUNT
+			|| registerCount > 0x7D) {
+		Modbus_SendExceptionResponse(0x02); // 地址错误
+		return;
+	}
+
+	uint8_t byteCount = registerCount * 2;
+	uint8_t index = 0;
+
+	response[index++] = MODBUS_SLAVE_ADDRESS;
+	response[index++] = MODBUS_FUNCTION_CODE_03;
+	response[index++] = byteCount;
+
+	for (uint16_t i = 0; i < registerCount; i++) {
+		uint16_t regValue = holdingRegisters[(startAddress
+				- REGISTER_START_ADDRESS) + i];
+		response[index++] = (regValue >> 8) & 0xFF;
+		response[index++] = regValue & 0xFF;
+	}
+
+	uint16_t crc = CalculateCRC(response, index);
+	response[index++] = crc & 0xFF;
+	response[index++] = (crc >> 8) & 0xFF;
+
+	Modbus_SendResponse(response, index);
+}
+
+/* 处理功能码06 */
+void Modbus_HandleFunction06(uint16_t registerAddress, uint16_t value) {
+	/* 检查地址是否合法 */
+	if (registerAddress < REGISTER_START_ADDRESS
+			|| registerAddress >= REGISTER_START_ADDRESS + REGISTER_COUNT) {
+		Modbus_SendExceptionResponse(0x02); // 地址错误
+		return;
+	}
+
+	/* 写入寄存器值 */
+	holdingRegisters[registerAddress - REGISTER_START_ADDRESS] = value;
+
+	/* 准备响应帧 - 功能码06的响应是原请求帧的原样返回 */
+	uint8_t index = 0;
+	response[index++] = MODBUS_SLAVE_ADDRESS;
+	response[index++] = MODBUS_FUNCTION_CODE_06;
+	response[index++] = (registerAddress >> 8) & 0xFF;  // 寄存器地址高8位
+	response[index++] = registerAddress & 0xFF;         // 寄存器地址低8位
+	response[index++] = (value >> 8) & 0xFF;            // 写入值高8位
+	response[index++] = value & 0xFF;                   // 写入值低8位
+
+	/* 计算CRC并添加到响应帧 */
+	uint16_t crc = CalculateCRC(response, index);
+	response[index++] = crc & 0xFF;
+	response[index++] = (crc >> 8) & 0xFF;
+
+	/* 发送响应 */
+	Modbus_SendResponse(response, index);
+}
+
+// 添加功能码0x10处理函数
+void Modbus_HandleFunction10(uint16_t startAddress, uint16_t registerCount,
+		uint8_t *data) {
+	// 检查地址和数量是否合法
+	if (startAddress < REGISTER_START_ADDRESS
+			|| startAddress + registerCount
+					> REGISTER_START_ADDRESS + REGISTER_COUNT
+			|| registerCount == 0 || registerCount > 0x7B) {
+		Modbus_SendExceptionResponse(0x02);  // 地址错误
+		return;
+	}
+
+	// 处理每个寄存器
+	for (uint16_t i = 0; i < registerCount; i++) {
+		uint16_t regIndex = (startAddress - REGISTER_START_ADDRESS) + i;
+		uint16_t value = (data[i * 2] << 8) | data[i * 2 + 1];
+
+		// 只有可写寄存器才更新值
+		if (registerWritable[regIndex]) {
+			holdingRegisters[regIndex] = value;
+		}
+		// 只读寄存器保持原有值，不做处理
+	}
+
+	// 准备响应帧 - 功能码0x10的响应包含起始地址和写入数量
+	uint8_t index = 0;
+	response[index++] = MODBUS_SLAVE_ADDRESS;
+	response[index++] = MODBUS_FUNCTION_CODE_10;
+	response[index++] = (startAddress >> 8) & 0xFF;  // 起始地址高8位
+	response[index++] = startAddress & 0xFF;         // 起始地址低8位
+	response[index++] = (registerCount >> 8) & 0xFF; // 写入数量高8位
+	response[index++] = registerCount & 0xFF;        // 写入数量低8位
+
+	// 计算CRC并添加到响应帧
+	uint16_t crc = CalculateCRC(response, index);
+	response[index++] = crc & 0xFF;
+	response[index++] = (crc >> 8) & 0xFF;
+
+	// 发送响应
+	Modbus_SendResponse(response, index);
+}
+
+/* 发送异常响应 */
+void Modbus_SendExceptionResponse(uint8_t exceptionCode) {
+
+	response[0] = MODBUS_SLAVE_ADDRESS;
+	response[1] = modbusBuffer[1] | 0x80;  // 异常功能码
+	response[2] = exceptionCode;
+
+	uint16_t crc = CalculateCRC(response, 3);
+	response[3] = crc & 0xFF;
+	response[4] = (crc >> 8) & 0xFF;
+
+	Modbus_SendResponse(response, 5);
+}
+
+/* 发送响应 */
+void Modbus_SendResponse(uint8_t *data, uint8_t length) {
+	/* 使能RS485发送 */
+
+	/* 发送数据 */
+	HAL_UART_Transmit_DMA(&huart1, data, length);
+	/* 切换到接收模式 */
+}
+
+/* 发送响应 */
+void Modbus_Master_Send(uint8_t *data, uint8_t length) {
+	/* 使能RS485发送 */
+
+	/* 发送数据 */
+	HAL_UART_Transmit_DMA(&huart2, data, length);
+	/* 切换到接收模式 */
+}
+/* CRC计算 */
+uint16_t CalculateCRC(uint8_t *data, uint8_t length) {
+	uint16_t crc = 0xFFFF;
+
+	for (uint8_t i = 0; i < length; i++) {
+		crc ^= (uint16_t) data[i];
+
+		for (uint8_t j = 0; j < 8; j++) {
+			if ((crc & 0x0001) != 0) {
+				crc >>= 1;
+				crc ^= 0xA001;
+			} else {
+				crc >>= 1;
+			}
+		}
+	}
+
+	return crc;
+}
+
+/* UART接收中断回调函数 */
+void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
+	if (huart == &huart1) {
+		if (modbusBufferIndex < MODBUS_BUFFER_SIZE) {
+			modbusBuffer[modbusBufferIndex++] = huart->Instance->RDR;
+		} else {
+			modbusBufferIndex = 0;
+		}
+		lastByteTime = HAL_GetTick();
+		/* 重新启动接收中断 */
+		HAL_UART_Receive_IT(&huart1,
+				(uint8_t*) &modbusBuffer[modbusBufferIndex], 1);
+	} else if (huart == &huart2) {
+
+		if (modbus_master_BufferIndex < MODBUS_BUFFER_SIZE) {
+			modbus_master_Buffer[modbus_master_BufferIndex++] =
+					huart->Instance->RDR;
+		} else {
+			modbus_master_BufferIndex = 0;
+		}
+		last_master_ByteTime = HAL_GetTick();
+		/* 重新启动接收中断 */
+		HAL_UART_Receive_IT(&huart2,
+				(uint8_t*) &modbus_master_Buffer[modbus_master_BufferIndex], 1);
+	}
+}
+
+void MB_WriteHoldingReg(uint8_t _addr,
+		uint16_t _reg, uint16_t _data) {
+	uint16_t TxCount = 0;
+	uint16_t crc = 0;
+	master_tx_buf[TxCount++] = _addr; /* 从站地址 */
+	master_tx_buf[TxCount++] = 0x06; /* 功能码 */
+	master_tx_buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
+	master_tx_buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
+	master_tx_buf[TxCount++] = _data >> 8; /* 寄存器(16bits)个数 高字节 */
+	master_tx_buf[TxCount++] = _data; /*  低字节 */
+
+
+	crc = CalculateCRC(master_tx_buf, TxCount);
+	master_tx_buf[TxCount++] = crc & 0xFF;
+	master_tx_buf[TxCount++] = (crc >> 8) & 0xFF;
+
+	Modbus_Master_Send(master_tx_buf,TxCount);
+	dmk_read_state=0;
+}
+
+
+void calculate_dmk()
+{
+	if (modbus_master_BufferIndex
+			> 0&& (HAL_GetTick() - last_master_ByteTime) > MODBUS_TIMEOUT_MS)
+	{
+		/* 接收标记消息完成 */
+		dmk_read_state=1;//返回成功
+	}
+}