使用freemodbus向主机发送寄存器信息

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blueice 2025-01-09 14:22:20

文章标签 stm32 单片机 c语言 #include 初始化 文章分类 机器学习人工智能

这个文章仅做思路查看
具体解决看这里

使用CUBE+KEIL编程
查看文章如下

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "iwdg.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/*
说明：
cube生成debug模式不可以使用JINK(5PIN)，会导致FREEMODBUS读写异常。

独立看门狗 4s一次。超过4s没更新 即复位

            nvic优先级设置
中断                  抢占优先级   子优先级
系统时钟              0             0
TIM4（FREEMODBUS时钟）0             1[不可改变，已测试]
串口1                 0             2[不可改变，已测试]
TIM1捕获（PWM）       2             2
TIM3（编码器）        3             1
外部中断1和2          3             2
TIM1更新中断（没用）  3             3

           GPIO
TIM2_CH2                PA1
MOTOR_TURN              PA2
ADC1_IN5                PA5
TIM3_CH1                PA6
TIM3_CH2                PA7
USART1_TX               PA9
USART1_RX               PA10
Photoelectric_Sensor1   PB0
LED                     PB1
Photoelectric_Sensor2   PC4
RCC_OSC_IN              PH0
RCC_OSC_OUT             PH1

USART1:用于MODBUS传输
TIM1:用于计数脉冲个数。                            https://www.jianshu.com/p/eae5386aa8ee
TIM2:输出PWM                                       https://www.jianshu.com/p/eae5386aa8ee
TIM3:正交解码模式。                                
tim4:用于连接porttimer.c文件的函数,启用FREEMODBUS  
*/
/* FREEMODBUS Includes */
#include "mb.h"
#include "port.h"
#include "demo.h"
/* other Includes */
#include "stdio.h"
#include "delay.h"
#include "motor.h"
#include "encoder.h"
#include "led.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define ADC1_BUFFER_SIZE 32*4	//ADC1用了4通道, 存32组, 方便做平均
#define ADC3_BUFFER_SIZE 32*8	//ADC3用了8通道, 存32组, 方便做平均

//32字节对齐(地址+大小)
//adc1_data指定到 AXI SRAM 的0x24000000
//adc3_data指定到 SRAM4 的0x38000000
//ALIGN_32BYTES (uint16_t adc1_data[ADC1_BUFFER_SIZE]) __attribute__((section(".ARM.__at_0x24000000")));
//ALIGN_32BYTES (uint16_t adc3_data[ADC3_BUFFER_SIZE]) __attribute__((section(".ARM.__at_0x38000000")));

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
u8 once_flag = 1;//仅运行一次标志位。只有当其为0，才运行其他代码
uint8_t zero_error = HAL_BUSY;//零位传感器错误码
float ane = -90;
__IO uint16_t ADC_ConvertedValue[20];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  unsigned int i = 0, ADC_Value = 0;
  /* USER CODE END 1 */

  /* Enable I-Cache---------------------------------------------------------*/
  SCB_EnableICache();

  /* Enable D-Cache---------------------------------------------------------*/
  SCB_EnableDCache();

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
  //delay_init(216);                //延时初始化
  //TIM1必需在TIM2前面初始化！！！
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC1_Init();
  MX_USART1_UART_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_TIM4_Init();
  MX_TIM3_Init();
  MX_IWDG_Init();
  /* USER CODE BEGIN 2 */
  eMBInit( MB_RTU, 0x01, 1, 9600, MB_PAR_NONE);//初始化modbus，走modbusRTU，从站地址为0x01，端口为1。
  eMBEnable(  );//使能modbus
  use_led_init();
  HAL_ADC_Start_DMA(&hadc1, (uint32_t*)&ADC_ConvertedValue[0], 20);
//  {
//    Error_Handler();
//  }

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    HAL_IWDG_Refresh(&hiwdg);//看门狗喂狗[debug设置断点时请注释看门狗]
    modbus_handler();
    (void)eMBPoll();//启动modbus
    
    for(i = 0; i < 20; ++i)
    {
      ADC_Value += ADC_ConvertedValue[i];
    }
    ADC_Value = ADC_Value / 20;
    
    if(!once_flag)
    {  
      motor_Absolute_angle_out(ane);
    }
    else if(once_flag)
    {
     if(Zero_Detection(0X2FFFFF) == HAL_OK)
     {
        HAL_Delay(500);
        once_flag = 0;
        pusle_it = 0;//初始化电机脉冲计数值
        motor_out_ok = HAL_OK;
     }
     else if(zero_error == HAL_TIMEOUT)
     {
       use_led_setmode();//如果归零传感器异常超时，led灯两闪两灭
       while(1);//错误
     }
    }
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure LSE Drive Capability
  */
  HAL_PWR_EnableBkUpAccess();
  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.LSIState = RCC_LSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 432;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Activate the Over-Drive mode
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_7) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
//void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc)
//{
//  /* Invalidate Data Cache to get the updated content of the SRAM on the first half of the ADC converted data buffer: 32 bytes */ 
//  SCB_InvalidateDCache_by_Addr((uint32_t *) &aADCxConvertedData[0], ADC_CONVERTED_DATA_BUFFER_SIZE);
//}
// 
///**
//  * @brief  Conversion DMA half-transfer callback in non-blocking mode
//  * @param  hadc: ADC handle
//  * @retval None
//  */
//void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
//{
//   /* Invalidate Data Cache to get the updated content of the SRAM on the second half of the ADC converted data buffer: 32 bytes */ 
//  SCB_InvalidateDCache_by_Addr((uint32_t *) &aADCxConvertedData[ADC_CONVERTED_DATA_BUFFER_SIZE/2], ADC_CONVERTED_DATA_BUFFER_SIZE);
//}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

配置之后debug下数组没有更新。都是0

3.注释读取数组代码后debug有数据

for(i = 0; i < 20; ++i)
    {
      ADC_Value += ADC_ConvertedValue[i];
    }
    ADC_Value = ADC_Value / 20;

使用freemodbus向主机发送寄存器信息_c语言

怀疑是编译器优化问题。调整之后无效

使用freemodbus向主机发送寄存器信息_stm32_02

__IO uint16_t ADC_ConvertedValue[20];
加上__IO，防止编译器优化无效。
#define __IO volatile /*!< Defines ‘read / write’ permissions */

使用freemodbus向主机发送寄存器信息_stm32_03

百度过其他adc+dma设置方法，均无效果。

使用freemodbus向主机发送寄存器信息_stm32_04

机缘巧合之下搜索RTC的时候看到这篇文章

使用freemodbus向主机发送寄存器信息_初始化_05

按照办法进行编程。无效，进不去debug。
查看代码

ALIGN_32BYTES (static uint16_t   aADCxConvertedData[ADC_CONVERTED_DATA_BUFFER_SIZE]) __attribute__((section(".ARM.__at_0x24000000")));

查看这篇文章

得知F7的地址不是这个

又无了。。。。知道看到这篇帖子

https://bbs.21ic.com/icview-2380632-1-1.html

使用freemodbus向主机发送寄存器信息_#include_06

有思路了，使用懒办法
改工程程序开始地址从flash开始

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