Andrey/templates
1
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

feat(set-protocol): добавь порт F407 для DevBoard_V1

Browse Source
This commit is contained in:
Andrey Kruchinkin
2026-09-07 08:32:02 +03:00
parent c9cf797132
commit daa3466a41
12 changed files with 516 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
README.md
View File

@@ -34,6 +34,7 @@ templates/
| [`c/can-sensor`](c/can-sensor) | однокадровые SETCAN SETTINGS для 64-битных ROM | ядро: `stdint.h`; порт F1: CMSIS | callbacks либо готовый bxCAN STM32F1 |
| [`c/ds18b20`](c/ds18b20) | термометры DS18B20 поверх программной 1-Wire | `stdint.h` | Init, DelayUs, Reset, WriteBit, ReadBit — **порты STM32F103, STM32G431 и STM32G474 в комплекте** |
| [`c/set-protocol`](c/set-protocol) | единое ядро SETProtocol: SET v2, совместимые ProtoCAN/GUI v1, GAS, телеметрия, firmware flow и стабильный host ABI | C99 | COM/SLCAN/SocketCAN/USB/Ethernet или callbacks — **Windows, Android и STM32F4-порты в комплекте** |
| [`c/set-protocol/ports/stm32f407-devboard-v1`](c/set-protocol/ports/stm32f407-devboard-v1) | доступ SETGUI к Modbus-регистрам F407 через CAN485 DevBoard_V1 | `pcan_modbus_server`, STM32 HAL CAN | bxCAN FIFO0 и callbacks карты регистров |
| [`c/set-protocol/ports/stm32-bxcan`](c/set-protocol/ports/stm32-bxcan) | порт прикладного ProtoCAN для STM32, бывший SETCAN; сохранён API `PROTOCAN_*` | STM32 HAL CAN/RTC/TIM + общее ядро `pcan_id` | classic bxCAN; настройки платы предоставляет прошивка |
| [`c/protocan-boot`](c/protocan-boot) | адресная прошивка по ProtoCAN: A/B-слоты, сессия, CRC32, verify и rollback-контракт | C99 | CAN TX, erase/write Flash, boot metadata, проверка образа и reboot |
| [`c/rs485-boot`](c/rs485-boot) | прошивка по RS-485 в формате SETGUI v1: потоковый parser, CRC32 и resume | C99 | UART TX/RX, DE, Flash — **порты STM32F103 и STM32G474VET в комплекте** |

5
c/set-protocol/CMakeLists.txt
View File

@@ -26,6 +26,7 @@ set(SETPROTOCOL_LEGACY_SOURCES
src/pcan_gas.c
src/pcan_id.c
src/pcan_link.c
src/pcan_modbus_server.c
src/pcan_ring.c
)
@@ -88,6 +89,10 @@ if(SETP_BUILD_TESTS)
target_link_libraries(test_transport PRIVATE setprotocol_static)
add_test(NAME legacy_transport COMMAND test_transport)
add_executable(test_modbus_server tests/test_modbus_server.c)
target_link_libraries(test_modbus_server PRIVATE setprotocol_static)
add_test(NAME protocan_modbus_server COMMAND test_modbus_server)
add_executable(test_gui tests/test_gui.c)
target_link_libraries(test_gui PRIVATE setprotocol_static)
add_test(NAME legacy_gui COMMAND test_gui)

60
c/set-protocol/include/pcan_modbus_server.h Normal file
View File

@@ -0,0 +1,60 @@
/**
* @file pcan_modbus_server.h
* @brief Modbus register windows transported in one classic ProtoCAN frame.
*/
#ifndef PCAN_MODBUS_SERVER_H
#define PCAN_MODBUS_SERVER_H
#include <stdbool.h>
#include <stdint.h>
#include "pcan_frame.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
PCAN_MODBUS_COIL = 0x4U,
PCAN_MODBUS_DISCRETE = 0x5U,
PCAN_MODBUS_HOLDING = 0x6U,
PCAN_MODBUS_INPUT = 0x7U
} pcan_modbus_bank_t;
typedef bool (*pcan_modbus_read_fn)(void *user, pcan_modbus_bank_t bank,
uint16_t address, uint16_t *value);
typedef bool (*pcan_modbus_write_fn)(void *user, pcan_modbus_bank_t bank,
uint16_t address, uint16_t value);
typedef struct {
uint8_t device_type;
uint8_t device_id;
pcan_modbus_read_fn read;
pcan_modbus_write_fn write;
void *user;
uint32_t requests;
uint32_t responses;
uint32_t rejected;
} pcan_modbus_server_t;
typedef enum {
PCAN_MODBUS_NOT_FOR_US = 0,
PCAN_MODBUS_HANDLED_NO_RESPONSE,
PCAN_MODBUS_RESPONSE
} pcan_modbus_result_t;
bool pcan_modbus_server_init(pcan_modbus_server_t *server,
uint8_t device_type, uint8_t device_id,
pcan_modbus_read_fn read,
pcan_modbus_write_fn write, void *user);
/** Zero DLC reads; data writes COIL/HOLDING. Register words are little-endian. */
pcan_modbus_result_t pcan_modbus_server_handle(pcan_modbus_server_t *server,
const pcan_frame_t *request,
pcan_frame_t *response);
#ifdef __cplusplus
}
#endif
#endif /* PCAN_MODBUS_SERVER_H */

1
c/set-protocol/include/protocan_transport.h
View File

@@ -23,6 +23,7 @@
#include "pcan_gas.h"
#include "pcan_id.h"
#include "pcan_link.h"
#include "pcan_modbus_server.h"
#include "pcan_ring.h"
#endif /* PROTOCAN_TRANSPORT_H */

22
c/set-protocol/ports/stm32f407-devboard-v1/README.md Normal file
View File

@@ -0,0 +1,22 @@
# STM32F407 + CAN485 DevBoard_V1
Порт даёт SETGUI доступ к существующим Modbus-регистрам STM32F407 через
классический CAN. ПК подключён к USB-UART платы CAN485 DevBoard_V1, команда
`T,E` платы отправляет ProtoCAN-кадр, а этот порт отвечает тем же типом кадра.
При маршруте `Q3` плата одновременно ретранслирует поток по RS-485.
Порт не настраивает GPIO, bitrate, фильтры и не запускает CAN: это остаётся за
CubeMX-проектом. Необработанные кадры передаются callback-у приложения, поэтому
загрузчик ProtoCAN и регистровый сервис могут делить FIFO0.
Слой приложения предоставляет callback-и чтения и записи. Нулевой DLC означает
чтение; данные в кадре `HOLDING`/`COIL` — запись. За кадр передаются до четырёх
16-битных регистров или до шестнадцати coils.
```c
static set_devboard_v1_stm32f407_t gui_can;
set_devboard_v1_stm32f407_init(&gui_can, &hcan, 7, 3,
app_read_register, app_write_register, NULL,
app_handle_boot_frame, NULL);
for (;;) set_devboard_v1_stm32f407_poll(&gui_can);
```

80
c/set-protocol/ports/stm32f407-devboard-v1/set_devboard_v1_stm32f407.c Normal file
View File

@@ -0,0 +1,80 @@
#include "set_devboard_v1_stm32f407.h"
#include <string.h>
static bool transmit(set_devboard_v1_stm32f407_t *port,
const pcan_frame_t *frame)
{
CAN_TxHeaderTypeDef header;
uint32_t mailbox = 0U;
uint8_t data[8] = {0U};
memset(&header, 0, sizeof(header));
header.ExtId = frame->id & 0x1FFFFFFFUL;
header.IDE = CAN_ID_EXT;
header.RTR = ((frame->flags & PCAN_FLAG_RTR) != 0U) ?
CAN_RTR_REMOTE : CAN_RTR_DATA;
header.DLC = frame->dlc;
header.TransmitGlobalTime = DISABLE;
memcpy(data, frame->data, frame->dlc);
if (HAL_CAN_AddTxMessage(port->can, &header, data, &mailbox) != HAL_OK) {
port->tx_errors++;
return false;
}
port->tx_frames++;
return true;
}
bool set_devboard_v1_stm32f407_init(
set_devboard_v1_stm32f407_t *port, CAN_HandleTypeDef *can,
uint8_t device_type, uint8_t device_id,
pcan_modbus_read_fn read, pcan_modbus_write_fn write, void *register_user,
set_devboard_v1_unhandled_fn unhandled, void *unhandled_user)
{
if ((port == NULL) || (can == NULL)) {
return false;
}
memset(port, 0, sizeof(*port));
port->can = can;
port->unhandled = unhandled;
port->unhandled_user = unhandled_user;
return pcan_modbus_server_init(&port->server, device_type, device_id,
read, write, register_user);
}
size_t set_devboard_v1_stm32f407_poll(set_devboard_v1_stm32f407_t *port)
{
size_t handled = 0U;
if ((port == NULL) || (port->can == NULL)) {
return 0U;
}
while (HAL_CAN_GetRxFifoFillLevel(port->can, CAN_RX_FIFO0) != 0U) {
CAN_RxHeaderTypeDef header;
uint8_t data[8] = {0U};
pcan_frame_t request = {0};
pcan_frame_t response;
pcan_modbus_result_t result;
if (HAL_CAN_GetRxMessage(port->can, CAN_RX_FIFO0, &header, data) != HAL_OK) {
break;
}
port->rx_frames++;
request.id = (header.IDE == CAN_ID_EXT) ? header.ExtId : header.StdId;
request.flags = (header.IDE == CAN_ID_EXT) ? PCAN_FLAG_IDE : 0U;
if (header.RTR == CAN_RTR_REMOTE) {
request.flags |= PCAN_FLAG_RTR;
}
request.dlc = (header.DLC > 8U) ? 8U : (uint8_t)header.DLC;
memcpy(request.data, data, request.dlc);
result = pcan_modbus_server_handle(&port->server, &request, &response);
if (result == PCAN_MODBUS_RESPONSE) {
(void)transmit(port, &response);
handled++;
} else if ((result == PCAN_MODBUS_NOT_FOR_US) &&
(port->unhandled != NULL)) {
port->unhandled(port->unhandled_user, &header, data);
}
}
return handled;
}

38
c/set-protocol/ports/stm32f407-devboard-v1/set_devboard_v1_stm32f407.h Normal file
View File

@@ -0,0 +1,38 @@
/** STM32F407 bxCAN port for SETGUI through CAN485 DevBoard_V1. */
#ifndef SET_DEVBOARD_V1_STM32F407_H
#define SET_DEVBOARD_V1_STM32F407_H
#include "stm32f4xx_hal.h"
#include "pcan_modbus_server.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef void (*set_devboard_v1_unhandled_fn)(void *user,
const CAN_RxHeaderTypeDef *header,
const uint8_t data[8]);
typedef struct {
CAN_HandleTypeDef *can;
pcan_modbus_server_t server;
set_devboard_v1_unhandled_fn unhandled;
void *unhandled_user;
uint32_t rx_frames;
uint32_t tx_frames;
uint32_t tx_errors;
} set_devboard_v1_stm32f407_t;
bool set_devboard_v1_stm32f407_init(
set_devboard_v1_stm32f407_t *port, CAN_HandleTypeDef *can,
uint8_t device_type, uint8_t device_id,
pcan_modbus_read_fn read, pcan_modbus_write_fn write, void *register_user,
set_devboard_v1_unhandled_fn unhandled, void *unhandled_user);
size_t set_devboard_v1_stm32f407_poll(set_devboard_v1_stm32f407_t *port);
#ifdef __cplusplus
}
#endif
#endif

144
c/set-protocol/src/pcan_modbus_server.c Normal file
View File

@@ -0,0 +1,144 @@
#include "pcan_modbus_server.h"
#include <stddef.h>
#include "pcan_id.h"
static bool is_bank(uint8_t value)
{
return (value >= (uint8_t)PCAN_MODBUS_COIL) &&
(value <= (uint8_t)PCAN_MODBUS_INPUT);
}
bool pcan_modbus_server_init(pcan_modbus_server_t *server,
uint8_t device_type, uint8_t device_id,
pcan_modbus_read_fn read,
pcan_modbus_write_fn write, void *user)
{
if ((server == NULL) || (read == NULL) || (device_type > 7U) ||
(device_id > 15U)) {
return false;
}
server->device_type = device_type;
server->device_id = device_id;
server->read = read;
server->write = write;
server->user = user;
server->requests = 0U;
server->responses = 0U;
server->rejected = 0U;
return true;
}
static pcan_modbus_result_t reject(pcan_modbus_server_t *server)
{
server->rejected++;
return PCAN_MODBUS_HANDLED_NO_RESPONSE;
}
pcan_modbus_result_t pcan_modbus_server_handle(pcan_modbus_server_t *server,
const pcan_frame_t *request,
pcan_frame_t *response)
{
pcan_id_t id;
uint16_t address;
uint8_t count;
pcan_modbus_bank_t bank;
if ((server == NULL) || (request == NULL) || (response == NULL) ||
((request->flags & PCAN_FLAG_IDE) == 0U)) {
return PCAN_MODBUS_NOT_FOR_US;
}
pcan_id_unpack(request->id, &id);
if ((id.route != PCAN_ROUTE_FROM_PM) ||
(id.device_type != server->device_type) ||
(id.device_id != server->device_id) || !is_bank(id.msg_type)) {
return PCAN_MODBUS_NOT_FOR_US;
}
server->requests++;
address = (uint16_t)(id.msg_body >> 4U);
count = (uint8_t)(id.msg_body & 0x0FU);
bank = (pcan_modbus_bank_t)id.msg_type;
if (count == 0U) {
return reject(server);
}
*response = *request;
id.route = PCAN_ROUTE_FROM_DEVICE;
response->id = pcan_id_pack(&id);
response->flags = PCAN_FLAG_IDE;
response->seq = 0U;
if (request->dlc == 0U) {
uint16_t packed = 0U;
if ((bank == PCAN_MODBUS_COIL) || (bank == PCAN_MODBUS_DISCRETE)) {
if (count > 16U) {
return reject(server);
}
for (uint8_t index = 0U; index < count; ++index) {
uint16_t value = 0U;
if (!server->read(server->user, bank,
(uint16_t)(address + index), &value)) {
return reject(server);
}
if (value != 0U) {
packed |= (uint16_t)(1U << index);
}
}
response->dlc = 2U;
response->data[0] = (uint8_t)packed;
response->data[1] = (uint8_t)(packed >> 8U);
} else {
if (count > 4U) {
return reject(server);
}
response->dlc = (uint8_t)(count * 2U);
for (uint8_t index = 0U; index < count; ++index) {
uint16_t value = 0U;
if (!server->read(server->user, bank,
(uint16_t)(address + index), &value)) {
return reject(server);
}
response->data[index * 2U] = (uint8_t)value;
response->data[(index * 2U) + 1U] = (uint8_t)(value >> 8U);
}
}
} else {
if ((bank == PCAN_MODBUS_INPUT) || (bank == PCAN_MODBUS_DISCRETE) ||
(server->write == NULL)) {
return reject(server);
}
if (bank == PCAN_MODBUS_COIL) {
uint16_t bits;
if ((count > 16U) || (request->dlc != 2U)) {
return reject(server);
}
bits = (uint16_t)((uint16_t)request->data[0] |
((uint16_t)request->data[1] << 8U));
for (uint8_t index = 0U; index < count; ++index) {
if (!server->write(server->user, bank,
(uint16_t)(address + index),
(uint16_t)((bits >> index) & 1U))) {
return reject(server);
}
}
} else {
if ((count > 4U) || (request->dlc != (uint8_t)(count * 2U))) {
return reject(server);
}
for (uint8_t index = 0U; index < count; ++index) {
uint16_t value = (uint16_t)(request->data[index * 2U] |
((uint16_t)request->data[(index * 2U) + 1U] << 8U));
if (!server->write(server->user, bank,
(uint16_t)(address + index), value)) {
return reject(server);
}
}
}
response->dlc = request->dlc;
}
server->responses++;
return PCAN_MODBUS_RESPONSE;
}

90
c/set-protocol/tests/test_modbus_server.c Normal file
View File

@@ -0,0 +1,90 @@
#include <stdio.h>
#include <string.h>
#include "pcan_id.h"
#include "pcan_modbus_server.h"
static uint16_t holding[32];
static uint16_t input[32];
static uint16_t coils;
static bool read_word(void *user, pcan_modbus_bank_t bank,
uint16_t address, uint16_t *value)
{
(void)user;
if (address >= 32U) return false;
if (bank == PCAN_MODBUS_HOLDING) *value = holding[address];
else if (bank == PCAN_MODBUS_INPUT) *value = input[address];
else if (bank == PCAN_MODBUS_COIL) *value = (uint16_t)((coils >> address) & 1U);
else return false;
return true;
}
static bool write_word(void *user, pcan_modbus_bank_t bank,
uint16_t address, uint16_t value)
{
(void)user;
if (address >= 32U) return false;
if (bank == PCAN_MODBUS_HOLDING) holding[address] = value;
else if (bank == PCAN_MODBUS_COIL && address < 16U) {
if (value) coils |= (uint16_t)(1U << address);
else coils &= (uint16_t)~(1U << address);
} else return false;
return true;
}
static pcan_frame_t request(uint8_t type, uint16_t address, uint8_t count)
{
pcan_id_t id = {0};
pcan_frame_t frame = {0};
id.priority = PCAN_PRIORITY_STANDARD;
id.route = PCAN_ROUTE_FROM_PM;
id.device_type = 7U;
id.device_id = 3U;
id.msg_type = type;
id.msg_body = pcan_body_modbus(address, count);
frame.id = pcan_id_pack(&id);
frame.flags = PCAN_FLAG_IDE;
return frame;
}
#define CHECK(x) do { if (!(x)) { \
fprintf(stderr, "FAIL %s:%d: %s\n", __FILE__, __LINE__, #x); return 1; \
} } while (0)
int main(void)
{
pcan_modbus_server_t server;
pcan_frame_t req;
pcan_frame_t rsp;
pcan_id_t id;
memset(holding, 0, sizeof(holding));
memset(input, 0, sizeof(input));
input[10] = 0x1234U;
input[11] = 0xABCDU;
CHECK(pcan_modbus_server_init(&server, 7U, 3U, read_word, write_word, NULL));
req = request(PCAN_MODBUS_INPUT, 10U, 2U);
CHECK(pcan_modbus_server_handle(&server, &req, &rsp) == PCAN_MODBUS_RESPONSE);
CHECK(rsp.dlc == 4U && rsp.data[0] == 0x34U && rsp.data[1] == 0x12U);
CHECK(rsp.data[2] == 0xCDU && rsp.data[3] == 0xABU);
pcan_id_unpack(rsp.id, &id);
CHECK(id.route == PCAN_ROUTE_FROM_DEVICE);
req = request(PCAN_MODBUS_HOLDING, 3U, 2U);
req.dlc = 4U;
req.data[0] = 0x22U; req.data[1] = 0x11U;
req.data[2] = 0x44U; req.data[3] = 0x33U;
CHECK(pcan_modbus_server_handle(&server, &req, &rsp) == PCAN_MODBUS_RESPONSE);
CHECK(holding[3] == 0x1122U && holding[4] == 0x3344U);
req = request(PCAN_MODBUS_COIL, 2U, 3U);
req.dlc = 2U; req.data[0] = 0x05U; req.data[1] = 0U;
CHECK(pcan_modbus_server_handle(&server, &req, &rsp) == PCAN_MODBUS_RESPONSE);
CHECK(coils == 0x0014U);
req = request(PCAN_MODBUS_INPUT, 0U, 5U);
CHECK(pcan_modbus_server_handle(&server, &req, &rsp) == PCAN_MODBUS_HANDLED_NO_RESPONSE);
CHECK(server.requests == 4U && server.responses == 3U && server.rejected == 1U);
return 0;
}

2
c/set-protocol/tools/build_host.py
View File

@@ -23,7 +23,7 @@ SOURCES = [
"set_protocol.c", "set_can.c", "set_firmware.c", "set_telemetry.c", "set_plot.c", "set_trends.c", "set_spectrum.c",
"balsam_can.c", "gui_catalog.c", "gui_frame.c", "pcan_abi.c", "pcan_crc.c",
"pcan_frame.c", "pcan_id.c", "pcan_link.c", "pcan_ring.c",
"pcan_gas.c",
"pcan_gas.c", "pcan_modbus_server.c",
)
]

60
python/protocan/devboard_v1.py Normal file
View File

@@ -0,0 +1,60 @@
"""CAN485 DevBoard_V1 USB command and frame helpers (no GUI/serial dependency)."""
from __future__ import annotations
import re
from dataclasses import dataclass
FRAME_RE = re.compile(
r"^\[\s*(\d+)\.(\d{3})\]\s+(?:(RS485)\s+)?"
r"(EXT|STD)\s+0x([0-9A-Fa-f]+)\s+"
r"(RTR\s+)?DLC=(\d)(?:\s+DATA=([0-9A-Fa-f ]*))?"
)
@dataclass(frozen=True, slots=True)
class BoardFrame:
timestamp: float
extended: bool
can_id: int
data: bytes
rtr: bool = False
source: str = "CAN"
def parse_frame_line(line: str) -> BoardFrame | None:
match = FRAME_RE.match(line.strip())
if match is None:
return None
seconds, millis, source, frame_type, raw_id, raw_rtr, raw_dlc, raw_data = match.groups()
dlc = int(raw_dlc)
data = bytes.fromhex(raw_data or "")
rtr = bool(raw_rtr)
if (not rtr and len(data) != dlc) or (rtr and data):
return None
extended = frame_type == "EXT"
can_id = int(raw_id, 16)
if can_id > (0x1FFFFFFF if extended else 0x7FF):
return None
return BoardFrame(int(seconds) + int(millis) / 1000.0, extended, can_id,
data, rtr, source or "CAN")
def command_transmit(frame: BoardFrame) -> bytes:
if len(frame.data) > 8:
raise ValueError("DLC cannot exceed 8")
kind = "E" if frame.extended else "S"
return f"T,{kind},{frame.can_id:X},{len(frame.data)},{frame.data.hex().upper()}\n".encode("ascii")
def command_setup(*, can_bitrate: int = 500, rs485_baud: int = 512000,
route: int = 3) -> tuple[bytes, ...]:
if can_bitrate not in (25, 50, 100, 125, 250, 500, 800, 1000):
raise ValueError("unsupported CAN bitrate")
if not 1200 <= rs485_baud <= 4_000_000:
raise ValueError("unsupported RS485 baud")
if route not in range(4):
raise ValueError("route must be 0..3")
return (f"S{can_bitrate}\n".encode("ascii"), b"M0\n",
f"B{rs485_baud}\n".encode("ascii"), f"Q{route}\n".encode("ascii"))

14
python/tests/test_devboard_v1.py Normal file
View File

@@ -0,0 +1,14 @@
from protocan.devboard_v1 import BoardFrame, command_setup, command_transmit, parse_frame_line
def test_parse_can_and_rs485_lines():
can = parse_frame_line("[ 12.345] EXT 0x073700A2 DLC=2 DATA=34 12 |4.|")
rs = parse_frame_line("[ 12.346] RS485 STD 0x123 RTR DLC=4")
assert can and can.can_id == 0x073700A2 and can.data == b"\x34\x12"
assert rs and rs.source == "RS485" and rs.rtr and rs.data == b""
def test_commands_are_firmware_compatible_and_lf_terminated():
frame = BoardFrame(0.0, True, 0x073700A2, b"\x34\x12")
assert command_transmit(frame) == b"T,E,73700A2,2,3412\n"
assert command_setup() == (b"S500\n", b"M0\n", b"B512000\n", b"Q3\n")