实现错误处理

iar/settings/uCOS_Modbus.dnx

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

@@ -10,13 +10,13 @@
 extern OS_EVENT* ModbusReceived;       /*接收到modbus请求报文*/
 
 
-
-
-/*0x270F+1=K10000*/
+/*0x270F + 1 = K10000 */
 uint8_t ModbusCoil[1250];   /*10000/8=1250*/
 uint16_t ModbusReg[10000];
+uint8_t ModbusErr;
 
-
+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);
@@ -24,6 +24,7 @@ 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);
 
+
 /*USART接收空闲中断*/
 void USART1_IRQHandler(void)
 {
@@ -49,6 +50,7 @@ void USART1_IRQHandler(void)
         rxLenRemain = DMA_GetCurrDataCounter(DMA2_Stream2);
         ModbusRxLen = MODBUS_RX_BUF_SIZE - rxLenRemain;
 
+        /*释放接收到数据帧信号量，唤醒帧解析任务*/
         if(ModbusRxLen != 0)
         {
             OSSemPost(ModbusReceived);
@@ -96,42 +98,41 @@ void AppTaskModbusParse (void *p_arg)
 
     while(1)
     {
+        /*无限期等待接收到数据帧信号量*/
         OSSemPend(ModbusReceived, 0, &err);
         
+        /*数据接收，防止下一帧覆盖*/
         rxLen = ModbusRxLen;
-
         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);
         if(ChcekCrc16(frame.crc, rxBuf, rxLen) != 0)
         {   
-            /****************************crc错误处理******************************/
+            /*crc校验错误，直接丢弃*/
+            continue;
         }
 
-
         frame.slaveAddres = rxBuf[0];
         if(frame.slaveAddres != SLAVE_ADDRES)
         {
-            /*****************************从机地址错误处理************************/
+            /*从机地址错误，直接丢弃*/
+            continue;
         }
 
-
         frame.func = rxBuf[1];
         frame.opeAddres = ((uint16_t)rxBuf[2] << 8) | ((uint16_t)rxBuf[3]);
         frame.opeNum = ((uint16_t)rxBuf[4] << 8) | ((uint16_t)rxBuf[5]);
-    
-    
-
+        
+        /*功能码分类*/
         switch(frame.func)
         {
             case 0x01:/*读线圈*/
                 ModbusReadCoil(frame.opeAddres, frame.opeNum);
-
                 break;
 
             case 0x03:/*读寄存器*/
                 ModbusReadReg(frame.opeAddres, frame.opeNum);
-
                 break;
 
             case 0x0F:/*写多个线圈*/
@@ -139,8 +140,6 @@ void AppTaskModbusParse (void *p_arg)
                 memcpy(frame.wData, &rxBuf[7], frame.wNum);
 
                 ModbusWriteCoil(frame.opeAddres, frame.opeNum, frame.wData);
-
-            
                 break;
 
             case 0x10:/*写多个寄存器*/
@@ -148,45 +147,60 @@ void AppTaskModbusParse (void *p_arg)
                 memcpy(frame.wData, &rxBuf[7], frame.wNum);
 
                 ModbusWriteReg(frame.opeAddres, frame.opeNum, frame.wData);
-
                 break;
+            
+            // case 0x05:/*写单个线圈*/
+            //     ModbusWriteCoil(frame.opeAddres, 1, frame.wData);
 
-            default:/*功能码错误*/
+            //     break;
 
+            // case 0x06:/*写单个寄存器*/
 
+            //     ModbusWriteReg(frame.opeAddres, 1, frame.wData);
+            //     break;
 
-                break;
+            default:/*功能码错误*/
+                ModbusErr = ERR_FUNC;
+                ModbusErrReply(frame.func, ERR_FUNC);
 
+                break;
         }
+        /*启动发送*/
         ModbusSend(ModbusTxBuf, ModbusTxLen);
     }
 }
 
 uint8_t ModbusReadCoil(uint16_t addres, uint16_t num)
 {
-    uint16_t byteIndI;
-    uint8_t bitIndI;
+    uint16_t byteIndI;  /*字节索引*/
+    uint8_t bitIndI;    /*位索引*/
     uint16_t byteIndO;
     uint8_t bitIndO;
 
-    uint8_t dataLen;
-
-    uint8_t index;
-    uint8_t readVal;
-    uint8_t writeVal;
+    uint8_t dataLen;    /*响应帧返回字节数*/
 
+    uint8_t index;      /*发送数组索引*/
+    uint8_t readVal;    /*读取到的形式值*/
+    uint8_t writeVal;   /*写入的形式值*/
 
-    if(addres > 0x270F || (addres + num) > 0x270F)
+    /*操作地址超限*/
+    if(addres > 0x270F || (addres + (num - 1)) > 0x270F)
     {
-        /********************地址超限处理*****************/
+        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);
     }
 
-
+    /*不能num/8+1，当为8的整数时会多一个*/
     dataLen = (num + 7) / 8;
 
-    memset(&ModbusTxBuf[3], 0, 253);/*清零发送数组*/
-
-    
+    /*清零发送数组*/
+    memset(&ModbusTxBuf[3], 0, 253);
 
     for(uint16_t i = 0; i < num; i++)
     {
@@ -196,20 +210,23 @@ uint8_t ModbusReadCoil(uint16_t addres, uint16_t num)
         byteIndI = (addres + i) / 8;
         bitIndI = (addres + i) % 8;
 
+        /*位掩码读取线圈值*/
         readVal = ModbusCoil[byteIndI] & ((uint8_t)1 << bitIndI);
         
+        /*读取到的值为0则不进行操作*/
         if(readVal != 0)
         {
             index = 3 + byteIndO;
+            /*将读取到的值移位到要写入的位*/
             writeVal = (uint8_t)1u << bitIndO;
 
             ModbusTxBuf[index] |= writeVal;
         }
     }
 
-    ModbusTxBuf[0] = SLAVE_ADDRES;
-    ModbusTxBuf[1] = 0x01;
-    ModbusTxBuf[2] = dataLen;/*响应帧返回数据字节数*/
+    ModbusTxBuf[0] = SLAVE_ADDRES;  /*从机地址*/
+    ModbusTxBuf[1] = 0x01;          /*功能码*/
+    ModbusTxBuf[2] = dataLen;       /*响应帧返回数据字节数*/
     AddCrc16(ModbusTxBuf, 3 + dataLen);
     ModbusTxLen = 5 + dataLen;
 }
@@ -224,14 +241,19 @@ uint8_t ModbusWriteCoil(uint16_t addres, uint16_t num, uint8_t *data)
     uint8_t readVal;
     uint8_t writeVal;
 
-
-    if(addres > 0x270F || (addres + num) > 0x270F)
+    /*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)
     {
-        /********************地址超限处理*****************/
+        ModbusErr = ERR_DATA;
+        return ModbusErrReply(0x0F, ERR_DATA);
     }
    
-
-
     for(uint16_t i = 0; i < num; i++)
     {
         byteIndI = (addres + i) / 8;
@@ -240,10 +262,11 @@ uint8_t ModbusWriteCoil(uint16_t addres, uint16_t num, uint8_t *data)
         byteIndO = i / 8;
         bitIndO = i % 8;
 
+        /*位掩码读取要写入的值*/
         readVal = data[byteIndO] | ((uint8_t)1 << bitIndO);
+        /*将写入值移位到要写入的位*/
         writeVal = (uint8_t)1 << bitIndI;
 
-
         if(readVal != 0)
         {
             ModbusCoil[byteIndI] |= writeVal;
@@ -274,17 +297,24 @@ uint8_t ModbusReadReg(uint16_t addres, uint16_t num)
     uint8_t dataLen;
 
     
-    
-    if(addres > 0x270F || (addres + num) > 0x270F)
+    /*操作地址超限*/
+    if(addres > 0x270F || (addres + (num - 1)) > 0x270F)
     {
-        /********************地址错误处理*****************/
+        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);
     }
-
 
     dataLen = num * 2;
     for(uint16_t i = 0; i < num; i++)
     {
         index = 3 + (i * 2);
+        /*将16位寄存器值拆分为两个8位*/
         readValH = (uint8_t)(ModbusReg[addres + i] >> 8);
         readValL = (uint8_t)(ModbusReg[addres + i] & 0x00FF);
 
@@ -306,10 +336,17 @@ uint8_t ModbusWriteReg(uint16_t addres, uint16_t num, uint8_t *data)
     uint8_t writeValL;
     uint16_t writeVal;
     
-    
-    if(addres > 0x270F || (addres + num) > 0x270F)
+    /*操作地址超限*/
+    if(addres > 0x270F || (addres + (num - 1)) > 0x270F)
     {
-        /********************地址错误处理*****************/
+        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);
     }
 
 
@@ -320,6 +357,7 @@ uint8_t ModbusWriteReg(uint16_t addres, uint16_t num, uint8_t *data)
         writeValH = data[index];
         writeValL = data[index + 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 + i] = writeVal;
     }
@@ -337,15 +375,28 @@ uint8_t ModbusWriteReg(uint16_t addres, uint16_t num, uint8_t *data)
     
 }
 
-uint16_t Crc16(const uint8_t *data, uint16_t length);
+uint8_t ModbusErrReply(uint8_t func, uint8_t err)
+{
+    ModbusTxBuf[0] = SLAVE_ADDRES;
+    ModbusTxBuf[1] = func;
+    ModbusTxBuf[2] = err;
+    AddCrc16(ModbusTxBuf, 3);
+    ModbusTxLen = 5;
+
+    return err;
+}
+
+
+
 
 void AddCrc16(uint8_t *data, uint16_t length)
 {
+    uint8_t *dataT = data;
     uint16_t crc16 = Crc16(data, length);
 
     /*低前高后*/
-    data[length] = (uint8_t)(crc16 & 0x00FF);
-    data[length + 1] = (uint8_t)(crc16 >> 8);
+    dataT[length] = (uint8_t)(crc16 & 0x00FF);
+    dataT[length + 1] = (uint8_t)(crc16 >> 8);
 }
 
 /*crc16校验*/

modbus/modbus.h

@@ -5,6 +5,11 @@
 
 #define SLAVE_ADDRES   0x01
 
+#define ERR_FUNC            0x01
+#define ERR_OPE_ADDRES      0x02 
+#define ERR_DATA            0x03
+#define ERR_SLAVE           0x04
+
 typedef struct Modbus_Frame
 {
     uint8_t slaveAddres;    /*从机地址*/