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修改数据格式正负数输入问题

master
DESKTOP-1PDT1EL\10564 1 week ago
parent
41b99f482a
commit
a7f75d23d5
12 changed files with 13728 additions and 13635 deletions
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  1. 2
      Core/Inc/modbus.h
  2. 11
      Core/Src/app.c
  3. 75
      Core/Src/modbus.c
  4. BIN
      Debug/Core/Src/app.o
  5. 10
      Debug/Core/Src/app.su
  6. BIN
      Debug/Core/Src/main.o
  7. BIN
      Debug/Core/Src/modbus.o
  8. 22
      Debug/Core/Src/modbus.su
  9. BIN
      Debug/g031_JIECANG_JC35W8.elf
  10. 26309
      Debug/g031_JIECANG_JC35W8.list
  11. 856
      Debug/g031_JIECANG_JC35W8.map
  12. 80
      g031_JIECANG_JC35W8.launch

2
Core/Inc/modbus.h
View File

@ -15,7 +15,7 @@
#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 5
#define MODBUS_TIMEOUT_MS 20
#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

11
Core/Src/app.c
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@ -29,7 +29,7 @@
#define Encoder_Max 4200
static volatile uint8_t adcConversionDone = 0;
static uint16_t lastRegister5 = 0;
static int16_t lastRegister5 = 0;
static void App_UpdateMotor(void);
static void App_SetCurrentLimit(uint16_t duty);
@ -120,14 +120,15 @@ static void App_UpdateMotor(void)
if (up != 0)
{
/* 正转：IO_1 高，IO_2 低 */
HAL_GPIO_WritePin(IO_1_GPIO_Port, IO_1_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(IO_2_GPIO_Port, IO_2_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(IO_1_GPIO_Port, IO_1_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(IO_2_GPIO_Port, IO_2_Pin, GPIO_PIN_SET);
}
else if (down != 0)
{
HAL_GPIO_WritePin(IO_1_GPIO_Port, IO_1_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(IO_2_GPIO_Port, IO_2_Pin, GPIO_PIN_RESET);
/* 反转：IO_1 低，IO_2 高 */
HAL_GPIO_WritePin(IO_1_GPIO_Port, IO_1_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(IO_2_GPIO_Port, IO_2_Pin, GPIO_PIN_SET);
}
else
{

75
Core/Src/modbus.c
View File

@ -29,6 +29,8 @@ uint16_t modbusBufferIndex = 0;
uint32_t lastByteTime = 0;
bool messageComplete = false;
uint8_t response[256];
uint8_t rxByte; // UART 单字节接收暂存变量
/* 函数声明 */
void Modbus_Init(void);
@ -43,13 +45,20 @@ uint16_t CalculateCRC(uint8_t *data, uint8_t length);
/* 初始化函数 */
void Modbus_Init(void)
{
/* RS485 方向控制引脚置为接收状态 */
HAL_GPIO_WritePin(DIR_GPIO_Port, DIR_Pin, GPIO_PIN_RESET);
/* 启动串口中断接收 */
modbusBufferIndex = 0;
HAL_UART_Receive_IT(&huart2, (uint8_t *)&modbusBuffer[modbusBufferIndex], 1);
HAL_GPIO_WritePin(DIR_GPIO_Port, DIR_Pin, GPIO_PIN_RESET); // 设置 RS485 为接收模式
modbusBufferIndex = 0; // 清空接收索引
messageComplete = false; // 清除帧完成标志
HAL_UART_Receive_IT(&huart2, &rxByte, 1); // 接收到固定变量，而不是直接接收进缓冲区
}
//void Modbus_Init(void)
//{
// /* RS485 方向控制引脚置为接收状态 */
// HAL_GPIO_WritePin(DIR_GPIO_Port, DIR_Pin, GPIO_PIN_RESET);
//
// /* 启动串口中断接收 */
// modbusBufferIndex = 0;
// HAL_UART_Receive_IT(&huart2, (uint8_t *)&modbusBuffer[modbusBufferIndex], 1);
//}
/* Modbus处理函数 - 应在主循环中调用 */
void Modbus_Process(void)
@ -138,6 +147,7 @@ void Modbus_Process(void)
/* 重置缓冲区 */
modbusBufferIndex = 0;
messageComplete = false;
}
/* 处理功能码03 */
@ -225,7 +235,7 @@ void Modbus_HandleFunction10(uint16_t startAddress, uint16_t registerCount, uint
for (uint16_t i = 0; i < registerCount; i++)
{
uint16_t regIndex = (startAddress - REGISTER_START_ADDRESS) + i;
uint16_t value = (uint16_t)((data[i * 2] << 8) | data[i * 2 + 1]);
int16_t value = (int16_t)((data[i * 2] << 8) | data[i * 2 + 1]);
/* 只有可写寄存器才更新值 */
if (registerWritable[regIndex] == 1)
@ -305,31 +315,50 @@ uint16_t CalculateCRC(uint8_t *data, uint8_t length)
/* UART接收中断回调函数 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if (huart != &huart2)
{
if (huart != &huart2) // 忽略其他串口
return;
}
lastByteTime = HAL_GetTick();
lastByteTime = HAL_GetTick(); // 更新最近一次接收时间
if (modbusBufferIndex < MODBUS_BUFFER_SIZE)
if (modbusBufferIndex < MODBUS_BUFFER_SIZE) // 检查缓冲区是否还有空间
{
/* HAL 已经将接收到的字节写入 modbusBuffer[modbusBufferIndex]，
此处只需向后移动索引。 */
modbusBufferIndex++;
}
if (modbusBufferIndex < MODBUS_BUFFER_SIZE)
{
HAL_UART_Receive_IT(&huart2, (uint8_t *)&modbusBuffer[modbusBufferIndex], 1);
modbusBuffer[modbusBufferIndex++] = rxByte; // 将收到的字节复制到正确的位置
}
else
{
/* 缓冲区满，丢弃并等待下一帧 */
modbusBufferIndex = 0;
HAL_UART_Receive_IT(&huart2, (uint8_t *)&modbusBuffer[modbusBufferIndex], 1);
modbusBufferIndex = 0; // 缓冲区溢出时丢弃当前帧
messageComplete = false; // 清除当前帧状态
}
HAL_UART_Receive_IT(&huart2, &rxByte, 1); // 继续接收下一个字节
}
//void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
//{
// if (huart != &huart2)
// {
// return;
// }
//
// lastByteTime = HAL_GetTick();
//
// if (modbusBufferIndex < MODBUS_BUFFER_SIZE)
// {
// /* HAL 已经将接收到的字节写入 modbusBuffer[modbusBufferIndex]，
// 此处只需向后移动索引。 */
// modbusBufferIndex++;
// }
//
// if (modbusBufferIndex < MODBUS_BUFFER_SIZE)
// {
// HAL_UART_Receive_IT(&huart2, (uint8_t *)&modbusBuffer[modbusBufferIndex], 1);
// }
// else
// {
// /* 缓冲区满，丢弃并等待下一帧 */
// modbusBufferIndex = 0;
// HAL_UART_Receive_IT(&huart2, (uint8_t *)&modbusBuffer[modbusBufferIndex], 1);
// }
//}
/* UART发送完成回调：切回RS485接收方向 */
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)

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Debug/Core/Src/app.o
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10
Debug/Core/Src/app.su
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@ -1,8 +1,8 @@
../Core/Src/app.c:40:6:App_Init 8 static
../Core/Src/app.c:69:6:App_Process 8 static
../Core/Src/app.c:88:13:App_UpdateMotor 32 static
../Core/Src/app.c:140:13:App_SetCurrentLimit 16 static
../Core/Src/app.c:150:13:App_UpdateEncoderRegister 16 static
../Core/Src/app.c:157:13:App_ProcessZeroCommand 8 static
../Core/Src/app.c:166:13:App_UpdateLed 32 static
../Core/Src/app.c:206:6:HAL_ADC_ConvCpltCallback 32 static
../Core/Src/app.c:141:13:App_SetCurrentLimit 16 static
../Core/Src/app.c:151:13:App_UpdateEncoderRegister 16 static
../Core/Src/app.c:158:13:App_ProcessZeroCommand 8 static
../Core/Src/app.c:167:13:App_UpdateLed 32 static
../Core/Src/app.c:207:6:HAL_ADC_ConvCpltCallback 32 static

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Debug/Core/Src/main.o
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Debug/Core/Src/modbus.o
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22
Debug/Core/Src/modbus.su
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@ -1,11 +1,11 @@
../Core/Src/modbus.c:44:6:Modbus_Init 8 static
../Core/Src/modbus.c:55:6:Modbus_Process 32 static
../Core/Src/modbus.c:144:6:Modbus_HandleFunction03 48 static
../Core/Src/modbus.c:176:6:Modbus_HandleFunction06 40 static
../Core/Src/modbus.c:214:6:Modbus_HandleFunction10 48 static
../Core/Src/modbus.c:256:6:Modbus_SendExceptionResponse 32 static
../Core/Src/modbus.c:270:6:Modbus_SendResponse 16 static
../Core/Src/modbus.c:280:10:CalculateCRC 24 static
../Core/Src/modbus.c:306:6:HAL_UART_RxCpltCallback 16 static
../Core/Src/modbus.c:335:6:HAL_UART_TxCpltCallback 16 static
../Core/Src/modbus.c:344:6:HAL_UART_ErrorCallback 16 static
../Core/Src/modbus.c:46:6:Modbus_Init 8 static
../Core/Src/modbus.c:64:6:Modbus_Process 32 static
../Core/Src/modbus.c:154:6:Modbus_HandleFunction03 48 static
../Core/Src/modbus.c:186:6:Modbus_HandleFunction06 40 static
../Core/Src/modbus.c:224:6:Modbus_HandleFunction10 48 static
../Core/Src/modbus.c:266:6:Modbus_SendExceptionResponse 32 static
../Core/Src/modbus.c:280:6:Modbus_SendResponse 16 static
../Core/Src/modbus.c:290:10:CalculateCRC 24 static
../Core/Src/modbus.c:316:6:HAL_UART_RxCpltCallback 16 static
../Core/Src/modbus.c:364:6:HAL_UART_TxCpltCallback 16 static
../Core/Src/modbus.c:373:6:HAL_UART_ErrorCallback 16 static

BIN
Debug/g031_JIECANG_JC35W8.elf
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Binary file not shown.

26309
Debug/g031_JIECANG_JC35W8.list
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856
Debug/g031_JIECANG_JC35W8.map
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80
g031_JIECANG_JC35W8.launch
View File

@ -0,0 +1,80 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
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