代码结构调整，增加0x05、0x06功能码解析

app/inc/hardware.h

@@ -1,20 +1,11 @@
 #ifndef __HARDWARE_H
 #define __HARDWARE_H
 
-/*接收数组大小*/
-#define MODBUS_RX_BUF_SIZE  256
-/*发送数组大小*/
-#define MODBUS_TX_BUF_SIZE  256
-
-/*modbus通信波特率*/
-#define MODBUS_USART_BAUDRATE 115200
+#include"modbus.h"
 
 
 extern uint8_t ModbusRxBuf[MODBUS_RX_BUF_SIZE];
-extern uint16_t ModbusRxLen;
 extern uint8_t ModbusTxBuf[MODBUS_TX_BUF_SIZE];
-extern uint16_t ModbusTxLen;
-
 
 
 void ModbusHardwareInit(void);

app/main.c

@@ -4,20 +4,16 @@
 /*定义信号量*/
 OS_EVENT* ModbusReceived;       /*接收到modbus请求报文*/
 
-
 /*定义任务栈*/
 static OS_STK AppTaskStartStk[APP_TASK_START_STK_SIZE];
 static OS_STK AppTaskModbusParseStk[APP_TASK_MODBUS_PARSE_STK_SIZE];
 
-
 /*定义任务主体函数*/
-void AppTaskStart (void *p_arg);
+static void AppTaskStart (void *p_arg);
 void AppTaskModbusParse (void *p_arg);
 
 
 
-
-
 int main()
 {
     Sys_Config();	/* stm32系统初始化配置 */

app/src/hardware.c

@@ -2,12 +2,6 @@
 #include "hardware.h"
 
 
-uint8_t ModbusRxBuf[MODBUS_RX_BUF_SIZE];    /*接收数组*/
-uint16_t ModbusRxLen = 0;                   /*接收数据长度*/
-uint8_t ModbusTxBuf[MODBUS_TX_BUF_SIZE];    /*发送数组*/
-uint16_t ModbusTxLen = 0;                   /*发送数据长度*/
-
-
 void ModbusGpioInit(void)
 {
     GPIO_InitTypeDef GPIO_InitStructure;
@@ -79,7 +73,7 @@ void ModbusDmaInit(void)
     DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(USART1->DR);     /*设置DMA外设端地址为USART1数据寄存器地址*/
     DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)ModbusRxBuf;          /*设置DMA存储器目标地址*/
     DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;                 /*传输方向为内存->外设*/
-    DMA_InitStructure.DMA_BufferSize = MODBUS_RX_BUF_SIZE;                  /*设置传输字节数*/
+    DMA_InitStructure.DMA_BufferSize = 256;                                 /*设置传输字节数*/
     DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;        /*禁止外设地址递增*/
     DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;                 /*使能内存地址自增*/
     DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; /*设置外设数据宽度为1字节（8位）*/

iar/settings/uCOS_Modbus.dnx

@@ -18,13 +18,13 @@
     <StLinkDriver>
         <stlinkserialNo>30303031</stlinkserialNo>
         <stlinkfoundProbes />
-        <stlinkResetStyle>0</stlinkResetStyle>
-        <stlinkResetStrategy>0</stlinkResetStrategy>
         <CStepIntDis>_ 0</CStepIntDis>
         <LeaveTargetRunning>_ 0</LeaveTargetRunning>
+        <stlinkResetStyle>0</stlinkResetStyle>
+        <stlinkResetStrategy>0</stlinkResetStrategy>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>3881723374</Checksum>
+        <Checksum>1307598136</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>
@@ -120,6 +120,12 @@
         <ShowTimeSum>1</ShowTimeSum>
         <SumSortOrder>0</SumSortOrder>
     </EventLog>
+    <DisassembleMode>
+        <mode>0</mode>
+    </DisassembleMode>
+    <Breakpoints2>
+        <Count>0</Count>
+    </Breakpoints2>
     <TermIOLog>
         <LoggingEnabled>_ 0</LoggingEnabled>
         <LogFile>_ ""</LogFile>
@@ -129,6 +135,10 @@
         <LogFile>_ ""</LogFile>
         <Category>_ 0</Category>
     </LogFile>
+    <Aliases>
+        <Count>0</Count>
+        <SuppressDialog>0</SuppressDialog>
+    </Aliases>
     <DriverProfiling>
         <Enabled>0</Enabled>
         <Mode>3</Mode>
@@ -142,14 +152,4 @@
     <CallStackStripe>
         <ShowTiming>1</ShowTiming>
     </CallStackStripe>
-    <DisassembleMode>
-        <mode>0</mode>
-    </DisassembleMode>
-    <Breakpoints2>
-        <Count>0</Count>
-    </Breakpoints2>
-    <Aliases>
-        <Count>0</Count>
-        <SuppressDialog>0</SuppressDialog>
-    </Aliases>
 </settings>

modbus/modbus.c

@@ -1,28 +1,31 @@
 #include "stm32f4xx.h"
-#include "hardware.h"
 #include "ucos_ii.h"
 #include "os.h"
-#include "app_cfg.h"
-#include "sys_cfg.h"
 #include "string.h"
 #include "modbus.h"
 
-extern OS_EVENT* ModbusReceived;       /*接收到modbus请求报文*/
-
 
+uint8_t ModbusErr;
 /*0x270F + 1 = K10000 */
 uint8_t ModbusCoil[1250];   /*10000/8=1250*/
 uint16_t ModbusReg[10000];
-uint8_t ModbusErr;
+
+uint8_t ModbusRxBuf[MODBUS_RX_BUF_SIZE];    /*接收数组*/
+uint16_t ModbusRxLen = 0;                   /*接收数据长度*/
+uint8_t ModbusTxBuf[MODBUS_TX_BUF_SIZE];    /*发送数组*/
+uint16_t ModbusTxLen = 0;                   /*发送数据长度*/
+
 
 uint8_t ModbusErrReply(uint8_t func, uint8_t err);
 uint16_t Crc16(const uint8_t *data, uint16_t length);
 void AddCrc16(uint8_t *data, uint16_t length);
 int8_t ChcekCrc16(uint16_t recCrc16, uint8_t *data, uint16_t length);
-uint8_t ModbusReadCoil(uint16_t addres, uint16_t num);
-uint8_t ModbusWriteCoil(uint16_t addres, uint16_t num, uint8_t *data);
-uint8_t ModbusReadReg(uint16_t addres, uint16_t num);
-uint8_t ModbusWriteReg(uint16_t addres, uint16_t num, uint8_t *data);
+uint8_t ModbusReadCoils(uint16_t addres, uint16_t num);
+uint8_t ModbusWriteCoils(uint16_t addres, uint16_t num, uint8_t *data);
+uint8_t ModbusReadRegs(uint16_t addres, uint16_t num);
+uint8_t ModbusWriteRegs(uint16_t addres, uint16_t num, uint8_t *data);
+uint8_t ModbusWriteReg(uint16_t addres, uint8_t *data);
+uint8_t ModbusWriteCoil(uint16_t addres, uint8_t *data);
 
 
 /*USART接收空闲中断*/
@@ -91,7 +94,7 @@ void ModbusSend(uint8_t *txBuf, uint16_t len)
 /*modbus协议帧解析任务*/
 void AppTaskModbusParse (void *p_arg)
 {
-    INT8U err;
+    OS_ERR err;
     MODBUS_FRAME frame;
     uint16_t rxLen;
     uint8_t rxBuf[256];
@@ -106,10 +109,11 @@ void AppTaskModbusParse (void *p_arg)
         memcpy(rxBuf, ModbusRxBuf, rxLen);
 
         /*拼接crc校验码（高前低后），接收到的数据帧crc校验码是低前高后*/
-        frame.crc = ((uint16_t)(rxBuf[rxLen - 1])) | ((uint16_t)rxBuf[rxLen - 2] << 8);
+        frame.crc = ((uint16_t)(rxBuf[rxLen - 2])) | ((uint16_t)rxBuf[rxLen - 1] << 8);
         if(ChcekCrc16(frame.crc, rxBuf, rxLen) != 0)
         {   
             /*crc校验错误，直接丢弃*/
+            ModbusErr = ERR_CRC;
             continue;
         }
 
@@ -117,6 +121,7 @@ void AppTaskModbusParse (void *p_arg)
         if(frame.slaveAddres != SLAVE_ADDRES)
         {
             /*从机地址错误，直接丢弃*/
+            ModbusErr = ERR_SLAVE_ADDRES;
             continue;
         }
 
@@ -128,41 +133,38 @@ void AppTaskModbusParse (void *p_arg)
         switch(frame.func)
         {
             case 0x01:/*读线圈*/
-                ModbusReadCoil(frame.opeAddres, frame.opeNum);
+                ModbusErr = ModbusReadCoils(frame.opeAddres, frame.opeNum);
                 break;
 
             case 0x03:/*读寄存器*/
-                ModbusReadReg(frame.opeAddres, frame.opeNum);
+                ModbusErr = ModbusReadRegs(frame.opeAddres, frame.opeNum);
                 break;
 
             case 0x0F:/*写多个线圈*/
                 frame.wNum = rxBuf[6];
                 memcpy(frame.wData, &rxBuf[7], frame.wNum);
-
-                ModbusWriteCoil(frame.opeAddres, frame.opeNum, frame.wData);
+                ModbusErr = ModbusWriteCoils(frame.opeAddres, frame.opeNum, frame.wData);
                 break;
 
             case 0x10:/*写多个寄存器*/
                 frame.wNum = rxBuf[6];
                 memcpy(frame.wData, &rxBuf[7], frame.wNum);
-
-                ModbusWriteReg(frame.opeAddres, frame.opeNum, frame.wData);
+                ModbusErr = ModbusWriteRegs(frame.opeAddres, frame.opeNum, frame.wData);
                 break;
             
-            // case 0x05:/*写单个线圈*/
-            //     ModbusWriteCoil(frame.opeAddres, 1, frame.wData);
-
-            //     break;
-
-            // case 0x06:/*写单个寄存器*/
+            case 0x05:/*写单个线圈*/
+                memcpy(frame.wData, &rxBuf[4], 2);
+                ModbusErr = ModbusWriteCoil(frame.opeAddres, frame.wData);
+                break;
 
-            //     ModbusWriteReg(frame.opeAddres, 1, frame.wData);
-            //     break;
+            case 0x06:/*写单个寄存器*/
+                memcpy(frame.wData, &rxBuf[4], 2);
+                ModbusErr = ModbusWriteReg(frame.opeAddres, frame.wData);
+                break;
 
             default:/*功能码错误*/
                 ModbusErr = ERR_FUNC;
-                ModbusErrReply(frame.func, ERR_FUNC);
-
+                ModbusErr = ModbusErrReply(frame.func, ERR_FUNC);
                 break;
         }
         /*启动发送*/
@@ -170,7 +172,7 @@ void AppTaskModbusParse (void *p_arg)
     }
 }
 
-uint8_t ModbusReadCoil(uint16_t addres, uint16_t num)
+uint8_t ModbusReadCoils(uint16_t addres, uint16_t num)
 {
     uint16_t byteIndI;  /*字节索引*/
     uint8_t bitIndI;    /*位索引*/
@@ -186,13 +188,11 @@ uint8_t ModbusReadCoil(uint16_t addres, uint16_t num)
     /*操作地址超限*/
     if(addres > 0x270F || (addres + (num - 1)) > 0x270F)
     {
-        ModbusErr = ERR_OPE_ADDRES;
         return ModbusErrReply(0x01, ERR_OPE_ADDRES);
     }
     /*操作数量超限*/
     if(num == 0 || num > 2000)
     {
-        ModbusErr = ERR_DATA;
         return ModbusErrReply(0x01, ERR_DATA);
     }
 
@@ -229,9 +229,11 @@ uint8_t ModbusReadCoil(uint16_t addres, uint16_t num)
     ModbusTxBuf[2] = dataLen;       /*响应帧返回数据字节数*/
     AddCrc16(ModbusTxBuf, 3 + dataLen);
     ModbusTxLen = 5 + dataLen;
+
+    return 0;
 }
 
-uint8_t ModbusWriteCoil(uint16_t addres, uint16_t num, uint8_t *data)
+uint8_t ModbusWriteCoils(uint16_t addres, uint16_t num, uint8_t *data)
 {
     uint16_t byteIndI;
     uint8_t bitIndI;
@@ -244,13 +246,11 @@ uint8_t ModbusWriteCoil(uint16_t addres, uint16_t num, uint8_t *data)
     /*操作地址超限*/
     if(addres > 0x270F || (addres + (num - 1)) > 0x270F)
     {
-        ModbusErr = ERR_OPE_ADDRES;
         return ModbusErrReply(0x0F, ERR_OPE_ADDRES);
     }
     /*操作数量超限*/
     if(num == 0 || num > 1968)
     {
-        ModbusErr = ERR_DATA;
         return ModbusErrReply(0x0F, ERR_DATA);
     }
    
@@ -267,46 +267,46 @@ uint8_t ModbusWriteCoil(uint16_t addres, uint16_t num, uint8_t *data)
         /*将写入值移位到要写入的位*/
         writeVal = (uint8_t)1 << bitIndI;
 
+        /*对应位写入1*/
         if(readVal != 0)
         {
             ModbusCoil[byteIndI] |= writeVal;
         }
+        /*对应位写入0*/
         else
         {
             ModbusCoil[byteIndI] &= (~writeVal);
         }
-
-        ModbusTxBuf[0] = SLAVE_ADDRES;
-        ModbusTxBuf[1] = 0x0F;
-        /*操作地址*/
-        ModbusTxBuf[2] = (uint8_t)(addres >> 8);
-        ModbusTxBuf[3] = (uint8_t)(addres & 0x00FF);
-        /*成功写入的数量*/
-        ModbusTxBuf[4] = (uint8_t)(num >> 8);
-        ModbusTxBuf[5] = (uint8_t)(num & 0x00FF);
-        AddCrc16(ModbusTxBuf, 6);
-        ModbusTxLen = 8;
     }
+    ModbusTxBuf[0] = SLAVE_ADDRES;
+    ModbusTxBuf[1] = 0x0F;
+    /*操作地址*/
+    ModbusTxBuf[2] = (uint8_t)(addres >> 8);
+    ModbusTxBuf[3] = (uint8_t)(addres & 0x00FF);
+    /*成功写入的数量*/
+    ModbusTxBuf[4] = (uint8_t)(num >> 8);
+    ModbusTxBuf[5] = (uint8_t)(num & 0x00FF);
+    AddCrc16(ModbusTxBuf, 6);
+    ModbusTxLen = 8;
+
+    return 0;
 }
 
-uint8_t ModbusReadReg(uint16_t addres, uint16_t num)
+uint8_t ModbusReadRegs(uint16_t addres, uint16_t num)
 {
     uint8_t index;
     uint8_t readValH;
     uint8_t readValL;
     uint8_t dataLen;
 
-    
     /*操作地址超限*/
     if(addres > 0x270F || (addres + (num - 1)) > 0x270F)
     {
-        ModbusErr = ERR_OPE_ADDRES;
         return ModbusErrReply(0x03, ERR_OPE_ADDRES);
     }
     /*操作数量超限*/
     if(num == 0 || num > 125)
     {
-        ModbusErr = ERR_DATA;
         return ModbusErrReply(0x03, ERR_DATA);
     }
 
@@ -326,9 +326,11 @@ uint8_t ModbusReadReg(uint16_t addres, uint16_t num)
     ModbusTxBuf[2] = dataLen;
     AddCrc16(ModbusTxBuf, 3 + dataLen);
     ModbusTxLen = 5 + dataLen;
+
+    return 0;
 }
 
-uint8_t ModbusWriteReg(uint16_t addres, uint16_t num, uint8_t *data)
+uint8_t ModbusWriteRegs(uint16_t addres, uint16_t num, uint8_t *data)
 {
     uint8_t index;
 
@@ -339,17 +341,14 @@ uint8_t ModbusWriteReg(uint16_t addres, uint16_t num, uint8_t *data)
     /*操作地址超限*/
     if(addres > 0x270F || (addres + (num - 1)) > 0x270F)
     {
-        ModbusErr = ERR_OPE_ADDRES;
         return ModbusErrReply(0x10, ERR_OPE_ADDRES);
     }
     /*操作数量超限*/
     if(num == 0 || num > 123)
     {
-        ModbusErr = ERR_DATA;
         return ModbusErrReply(0x10, ERR_DATA);
     }
 
-
     for(uint16_t i = 0; i < num; i++)
     {
         index = i * 2;
@@ -372,9 +371,95 @@ uint8_t ModbusWriteReg(uint16_t addres, uint16_t num, uint8_t *data)
     ModbusTxBuf[5] = (uint8_t)(num & 0x00FF);
     AddCrc16(ModbusTxBuf, 6);
     ModbusTxLen = 8;
+
+    return 0;
+}
+
+uint8_t ModbusWriteCoil(uint16_t addres, uint8_t *data)
+{
+    uint16_t byteIndI;
+    uint8_t bitIndI;
+
+    uint16_t readVal;
+    uint8_t writeVal;
+
+    /*操作地址超限*/
+    if(addres > 0x270F)
+    {
+        return ModbusErrReply(0x0F, ERR_OPE_ADDRES);
+    }
+   
+    byteIndI = addres / 8;
+    bitIndI = addres % 8;
     
+    /*位掩码读取要写入的值*/
+    readVal = ((uint16_t)data[0] << 8) | ((uint16_t)data[1] & 0x00FF);
+    /*将写入值移位到要写入的位*/
+    writeVal = (uint8_t)1 << bitIndI;
+
+    /*置on*/
+    if(readVal == 0xFF00)
+    {
+        ModbusCoil[byteIndI] |= writeVal;
+    }
+    /*置off*/
+    else if(readVal == 0x0000)
+    {
+        ModbusCoil[byteIndI] &= (~writeVal);
+    }
+    else
+    {
+        return ModbusErrReply(0x05, ERR_DATA);
+    }
+
+    ModbusTxBuf[0] = SLAVE_ADDRES;
+    ModbusTxBuf[1] = 0x0F;
+    /*操作地址*/
+    ModbusTxBuf[2] = (uint8_t)(addres >> 8);
+    ModbusTxBuf[3] = (uint8_t)(addres & 0x00FF);
+    /*成功写入*/
+    ModbusTxBuf[4] = data[0];
+    ModbusTxBuf[5] = data[1];
+    AddCrc16(ModbusTxBuf, 6);
+    ModbusTxLen = 8;
+
+    return 0;
 }
 
+uint8_t ModbusWriteReg(uint16_t addres, uint8_t *data)
+{
+    uint8_t writeValH;
+    uint8_t writeValL;
+    uint16_t writeVal;
+    
+    /*操作地址超限*/
+    if(addres > 0x270F)
+    {
+        return ModbusErrReply(0x10, ERR_OPE_ADDRES);
+    }
+
+    writeValH = data[0];
+    writeValL = data[1];
+    /*将要写入两个8位值拼接为16位*/
+    writeVal = ((uint16_t)writeValH << 8) | ((uint16_t)writeValL & 0x00FF);
+    ModbusReg[addres] = writeVal;
+    
+    ModbusTxBuf[0] = SLAVE_ADDRES;
+    ModbusTxBuf[1] = 0x10;
+    /*操作地址*/
+    ModbusTxBuf[2] = (uint8_t)(addres >> 8);
+    ModbusTxBuf[3] = (uint8_t)(addres & 0x00FF);
+    /*成功写入*/
+    ModbusTxBuf[4] = writeValH;
+    ModbusTxBuf[5] = writeValL;
+    AddCrc16(ModbusTxBuf, 6);
+    ModbusTxLen = 8;
+    
+    return 0;
+}
+
+
+
 uint8_t ModbusErrReply(uint8_t func, uint8_t err)
 {
     ModbusTxBuf[0] = SLAVE_ADDRES;

modbus/modbus.h

@@ -3,13 +3,28 @@
 
 #include "ucos_ii.h"
 
+
+/*接收数组大小*/
+#define MODBUS_RX_BUF_SIZE  256
+/*发送数组大小*/
+#define MODBUS_TX_BUF_SIZE  256
+
+/*modbus通信波特率*/
+#define MODBUS_USART_BAUDRATE 115200
+
+/*从机地址*/
 #define SLAVE_ADDRES   0x01
 
+/*错误码*/
 #define ERR_FUNC            0x01
 #define ERR_OPE_ADDRES      0x02 
 #define ERR_DATA            0x03
 #define ERR_SLAVE           0x04
 
+#define ERR_CRC             0x1F
+#define ERR_SLAVE_ADDRES    0x2F
+
+/*modbus帧结构*/
 typedef struct Modbus_Frame
 {
     uint8_t slaveAddres;    /*从机地址*/
@@ -17,14 +32,15 @@ typedef struct Modbus_Frame
     uint16_t opeAddres;     /*操作地址*/
     uint16_t opeNum;        /*操作数量*/
     uint8_t wNum;           /*写入字节数*/
-    uint8_t wData[256];      /*写入数据*/
+    uint8_t wData[256];     /*写入数据*/
     uint16_t crc;           /*CRC校验码*/
 }MODBUS_FRAME;
 
+
+/*接收到数据帧信号量*/
 extern OS_EVENT *ModbusReceived;
 
 
-void AppTaskModbusParse(void *p_arg);
-void AppTaskModbusSend(void *p_arg);
+
 
 #endif