centralCtrSys/centralCtrSys_theEnd/si/centralCtrSys.si4project/Backup/comm_car_485(3071).c

#include "comm_car_485.h"

//-------------define
#define TIMEOUT_485		10 // 10S

//-------------参数定义
rs485RecDate s_rs485RecDate;
rs485SendDate s_rs485SendDate;
uint8_t timeoutCnt_485 = 0;


/**
 * @brief       计算Modbus RTU消息的CRC校验码
 * @param       ptr: 数据首地址
 * @param       len: 数据长度
 * @return       
 */
uint16_t modbusCRC(uint8_t *buf, int len) {
    uint16_t crc = 0xFFFF;
    for (int pos = 0; pos < len; pos++) {
        crc ^= (uint16_t)buf[pos]; // XOR byte into CRC

        for (int i = 8; i != 0; i--) { // 循环8次
            if ((crc & 0x0001) != 0) { // 如果低位为1
                crc >>= 1; // 右移一位
                crc ^= 0xA001; // 与多项式码进行XOR
            } else {
                crc >>= 1; // 仅仅右移一位
            }
        }
    }
    return crc;
}

void modbus_recDate(void){
	HAL_UART_Receive_DMA(&huart3, (uint8_t*)g_usart3_rx_buf, USART3_REC_LEN); //设置接收缓冲区
}


/**
 * @brief       485发送函数
 * @param       data: 发送的数据
 * @param       dataLen: 发送的数据长度
 * @note       
 * @retval      无
 */
void modbus_sendDate(uint8_t data[], uint32_t dataLen){

	HAL_UART_Transmit(&huart3, data, dataLen, 1000);
	// 接收使能
	modbus_recDate();
}

// 构造Modbus RTU请求函数 03 功能码
void modbus_read_holding_registers(uint8_t slave_id, uint16_t start_address, uint16_t num_of_registers) {
    // 请求数据包的长度为 8 个字节
    uint8_t request[8] = {0};

    // 设置从设备地址
    request[0] = slave_id;

    // 设置功能码，03 功能码用于读取保持寄存器
    request[1] = 0x03;

    // 设置寄存器起始地址
    request[2] = (start_address >> 8) & 0xFF; // 寄存器起始地址的高字节
    request[3] = start_address & 0xFF;        // 寄存器起始地址的低字节

    // 设置读取寄存器的数量
    request[4] = (num_of_registers >> 8) & 0xFF; // 要读取的寄存器数量的高字节
    request[5] = num_of_registers & 0xFF;        // 要读取的寄存器

	// 计算CRC
    uint16_t crc = modbusCRC(request, 6);
    request[6] = crc & 0xFF; // CRC低位
    request[7] = crc >> 8; // CRC高位

	// 发送请求
	modbus_sendDate(request, 8);

}

// 构建Modbus 10功能码（写多个寄存器）请求帧
// 注意：调用此函数时需要确保`request`数组有足够的空间来存放整个请求帧，此空间应大于或等于 9 + 2 * numRegisters 字节。
void modbus_write_holding_registers(uint8_t slaveID, uint16_t startAddress, uint16_t numRegisters, uint16_t *values) {
	uint8_t request[256] = {0}; // 确保有足够的空间
	uint16_t requestSize = 0;

	int i;
    request[0] = slaveID; // 从设备地址
    request[1] = 0x10; // 功能码（写多个寄存器）
    request[2] = startAddress >> 8; // 起始地址高位
    request[3] = startAddress & 0xFF; // 起始地址低位
    request[4] = numRegisters >> 8; // 寄存器数量高位
    request[5] = numRegisters & 0xFF; // 寄存器数量低位
    request[6] = numRegisters * 2; // 字节计数（每个寄存器2字节）

    // 循环设置寄存器的值
    for (i = 0; i < numRegisters; i++) {
        request[7 + 2*i] = values[i] >> 8; // 寄存器值高字节
        request[8 + 2*i] = values[i] & 0xFF; // 寄存器值低字节
    }

    // 计算整个请求帧的大小
    requestSize = 7 + 2 * numRegisters;

    // 计算CRC
    uint16_t crc = modbusCRC(request, requestSize);
    request[requestSize] = crc & 0xFF; // CRC低位
    request[requestSize + 1] = crc >> 8; // CRC高位

    // 更新请求帧大小以包含CRC
    requestSize += 2;

	// 发送请求
	modbus_sendDate(request, requestSize);
}

// 验证Modbus RTU消息的CRC校验码
int checkModbusCRC(uint8_t *response, uint16_t responseSize) {
    if (responseSize < 4) return -1; // 不够长，无法包含CRC

    uint16_t receivedCRC = response[responseSize - 2] | response[responseSize - 1] << 8;
    uint16_t calculatedCRC = modbusCRC(response, responseSize - 2);

    return (receivedCRC == calculatedCRC) ? 0 : -1;
}


// 解析Modbus 03功能码的响应，并带有错误处理和完整性校验
int parseModbus03Response(uint8_t *response, uint16_t responseSize) {
	rs485RecDate *p_rs485RecDate = &s_rs485RecDate;

    // 最小长度检查
    if (responseSize < 5 || response[1] != 0x03) {
        printf("Response too short or function code mismatch!\n");
        return -1;
    }

    // 解析响应数据 从第四个字节开始为第一个数据
	p_rs485RecDate->vehicleSpeed = ((uint16_t)response[3] << 8) | response[4];
//	p_rs485RecDate->accTotalDrivTime_day = ((uint16_t)response[5] << 8) | response[6];
	p_rs485RecDate->dailyDrivTime = ((uint16_t)response[7] << 8) | response[8];
	p_rs485RecDate->dailyDrivMileage = ((uint16_t)response[9] << 8) | response[10];
	p_rs485RecDate->accTotalDrivTime_day = ((uint16_t)response[11] << 8) | response[12];
	p_rs485RecDate->accTotalDrivTime_h_min = ((uint16_t)response[13] << 8) | response[14];
	p_rs485RecDate->accTotalMileage_h = ((uint16_t)response[15] << 8) | response[16];
	p_rs485RecDate->accTotalMileage_l = ((uint16_t)response[17] << 8) | response[18];
	p_rs485RecDate->runTime = ((uint16_t)response[19] << 8) | response[20];
	p_rs485RecDate->batCompartmentTemp = ((uint16_t)response[21] << 8) | response[22];
    p_rs485RecDate->demandCur = ((uint16_t)response[23] << 8) | response[24];
    p_rs485RecDate->demandVol = ((uint16_t)response[25] << 8) | response[26];
    p_rs485RecDate->alarmLevel = ((uint16_t)response[27] << 8) | response[28];
	p_rs485RecDate->alarmType = ((uint16_t)response[29] << 8) | response[30];

    memcpy(p_rs485RecDate->VIN, &response[53], 26);
    memcpy(p_rs485RecDate->batSn, &response[79], 40);
    memcpy(p_rs485RecDate->Vehicle_Num, &response[119], 20);

	s_comData.vinRecSuccess = 1; // 成功获取到车的数据

    return 0; // 成功
}

// 解析Modbus 10功能码的响应，并带有错误处理和完整性校验
int parseModbus10Response(uint8_t *response, uint16_t responseSize) {
    // 最小长度检查
    if (responseSize != 8 || response[1] != 0x10) {
        printf("Response length mismatch or function code mismatch!\n");
        return -1;
    }

    // 解析响应数据
    uint16_t startAddress = response[2] << 8 | response[3];
    uint16_t numRegisters = response[4] << 8 | response[5];

    // 打印结果
    printf("Written to start address: %d, number of registers: %d\n", startAddress, numRegisters);

    return 0; // 成功
}




/**
 * @brief       485接收分析函数
 * @param       response: 接收到的数据
 * @note       	如果在中断中进行解析，则不能加互斥量，如果是在任务中解析，则加入互斥量的获取
 * @retval      无
 */
int parseModbusResponse(uint8_t *response, uint16_t responseSize){
	uint8_t fun_Code = 0;

	// 检查CRC
    if (checkModbusCRC(response, responseSize) != 0) {
        printf("CRC check failed!\n");
        return -1;
    }

	// 确认功能码
	fun_Code = response[1];

	// 数据解析
	switch(fun_Code){
		case 0x03:
			parseModbus03Response(response, responseSize);
			break;
		case 0x10:
			parseModbus10Response(response, responseSize);
			break;
		default:
			break;
	}

	 return 0; // 成功
}

/**
 * @brief       轮询发送接收
 * @note       	1s请求一次
 * @retval      无
 */
void rs485_poll_sendReceive(uint16_t speed){
	static uint8_t step_485 = 0;

	switch(step_485){
		case 0:
			// 读寄存器数据
			modbus_read_holding_registers(0x01, 0x0000, 67); 

			step_485 = 1;
			break;
		case 1:
			// 写寄存器数据
			modbus_write_holding_registers(0x01, 0x0001, 1, &speed);

			step_485 = 0;
			break;
		default:
			break;
	}

	if(timeoutCnt_485 < TIMEOUT_485){
		BIT_CLEAR(s_comData.Malfunction, com485); // 置位485通信故障
		timeoutCnt_485++;
	}else{
		timeoutCnt_485 = TIMEOUT_485;
		BIT_SET(s_comData.Malfunction, com485); // 置位485通信故障
	}

}