modbus的4个功能码实现

app/main.c

@@ -16,6 +16,8 @@ void AppTaskModbusParse (void *p_arg);
 
 
 
+
+
 int main()
 {
     Sys_Config();	/* stm32系统初始化配置 */

iar/settings/uCOS_Modbus.dnx

@@ -24,7 +24,7 @@
         <stlinkResetStrategy>0</stlinkResetStrategy>
     </StLinkDriver>
     <DebugChecksum>
-        <Checksum>2329420531</Checksum>
+        <Checksum>3881723374</Checksum>
     </DebugChecksum>
     <Exceptions>
         <StopOnUncaught>_ 0</StopOnUncaught>

modbus/modbus.c

@@ -4,9 +4,25 @@
 #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*/
-extern OS_EVENT* ModbusAssembled;      /*modbus响应帧组装完成*/
+
+
+
+
+/*0x270F+1=K10000*/
+uint8_t ModbusCoil[1250];   /*10000/8=1250*/
+uint16_t ModbusReg[10000];
+
+
+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);
 
 /*USART接收空闲中断*/
 void USART1_IRQHandler(void)
@@ -73,12 +89,303 @@ void ModbusSend(uint8_t *txBuf, uint16_t len)
 /*modbus协议帧解析任务*/
 void AppTaskModbusParse (void *p_arg)
 {
+    INT8U err;
+    MODBUS_FRAME frame;
+    uint16_t rxLen;
+    uint8_t rxBuf[256];
+
     while(1)
     {
-        OSTimeDly(OS_TICKS_PER_SEC); 
+        OSSemPend(ModbusReceived, 0, &err);
+        
+        rxLen = ModbusRxLen;
+
+        memcpy(rxBuf, ModbusRxBuf, rxLen);
+
+        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******************************/
+        }
+
+
+        frame.slaveAddres = rxBuf[0];
+        if(frame.slaveAddres != SLAVE_ADDRES)
+        {
+            /*****************************从机地址错误处理************************/
+        }
+
+
+        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]);
+    
+    
+
+        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*/
+                frame.wNum = rxBuf[6];
+                memcpy(frame.wData, &rxBuf[7], frame.wNum);
+
+                ModbusWriteCoil(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);
+
+                break;
+
+            default:/*功能码错误*/
+
+
+
+                break;
+
+        }
+        ModbusSend(ModbusTxBuf, ModbusTxLen);
+    }
+}
+
+uint8_t ModbusReadCoil(uint16_t addres, uint16_t num)
+{
+    uint16_t byteIndI;
+    uint8_t bitIndI;
+    uint16_t byteIndO;
+    uint8_t bitIndO;
+
+    uint8_t dataLen;
+
+    uint8_t index;
+    uint8_t readVal;
+    uint8_t writeVal;
+
+
+    if(addres > 0x270F || (addres + num) > 0x270F)
+    {
+        /********************地址超限处理*****************/
     }
-     
+
+
+    dataLen = (num + 7) / 8;
+
+    memset(&ModbusTxBuf[3], 0, 253);/*清零发送数组*/
+
     
+
+    for(uint16_t i = 0; i < num; i++)
+    {
+        byteIndO = i / 8;
+        bitIndO = i % 8;
+
+        byteIndI = (addres + i) / 8;
+        bitIndI = (addres + i) % 8;
+
+        readVal = ModbusCoil[byteIndI] & ((uint8_t)1 << bitIndI);
+        
+        if(readVal != 0)
+        {
+            index = 3 + byteIndO;
+            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*/
+    AddCrc16(ModbusTxBuf, 3 + dataLen);
+    ModbusTxLen = 5 + dataLen;
 }
 
+uint8_t ModbusWriteCoil(uint16_t addres, uint16_t num, uint8_t *data)
+{
+    uint16_t byteIndI;
+    uint8_t bitIndI;
+    uint16_t byteIndO;
+    uint8_t bitIndO;
+
+    uint8_t readVal;
+    uint8_t writeVal;
+
 
+    if(addres > 0x270F || (addres + num) > 0x270F)
+    {
+        /********************地址超限处理*****************/
+    }
+   
+
+
+    for(uint16_t i = 0; i < num; i++)
+    {
+        byteIndI = (addres + i) / 8;
+        bitIndI = (addres + i) % 8;
+    
+        byteIndO = i / 8;
+        bitIndO = i % 8;
+
+        readVal = data[byteIndO] | ((uint8_t)1 << bitIndO);
+        writeVal = (uint8_t)1 << bitIndI;
+
+
+        if(readVal != 0)
+        {
+            ModbusCoil[byteIndI] |= writeVal;
+        }
+        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;
+    }
+}
+
+uint8_t ModbusReadReg(uint16_t addres, uint16_t num)
+{
+    uint8_t index;
+    uint8_t readValH;
+    uint8_t readValL;
+    uint8_t dataLen;
+
+    
+    
+    if(addres > 0x270F || (addres + num) > 0x270F)
+    {
+        /********************地址错误处理*****************/
+    }
+
+
+    dataLen = num * 2;
+    for(uint16_t i = 0; i < num; i++)
+    {
+        index = 3 + (i * 2);
+        readValH = (uint8_t)(ModbusReg[addres + i] >> 8);
+        readValL = (uint8_t)(ModbusReg[addres + i] & 0x00FF);
+
+        ModbusTxBuf[index] = readValH;
+        ModbusTxBuf[index + 1] = readValL;
+    }
+    ModbusTxBuf[0] = SLAVE_ADDRES;
+    ModbusTxBuf[1] = 0x03;
+    ModbusTxBuf[2] = dataLen;
+    AddCrc16(ModbusTxBuf, 3 + dataLen);
+    ModbusTxLen = 5 + dataLen;
+}
+
+uint8_t ModbusWriteReg(uint16_t addres, uint16_t num, uint8_t *data)
+{
+    uint8_t index;
+
+    uint8_t writeValH;
+    uint8_t writeValL;
+    uint16_t writeVal;
+    
+    
+    if(addres > 0x270F || (addres + num) > 0x270F)
+    {
+        /********************地址错误处理*****************/
+    }
+
+
+    for(uint16_t i = 0; i < num; i++)
+    {
+        index = i * 2;
+
+        writeValH = data[index];
+        writeValL = data[index + 1];
+        
+        writeVal = ((uint16_t)writeValH << 8) | ((uint16_t)writeValL & 0x00FF);
+        ModbusReg[addres + i] = writeVal;
+    }
+
+    ModbusTxBuf[0] = SLAVE_ADDRES;
+    ModbusTxBuf[1] = 0x10;
+    /*操作地址*/
+    ModbusTxBuf[2] = (uint8_t)(addres >> 8);
+    ModbusTxBuf[3] = (uint8_t)(addres & 0x00FF);
+    /*成功写入数量*/
+    ModbusTxBuf[4] = (uint8_t)(num >> 8);
+    ModbusTxBuf[5] = (uint8_t)(num & 0x00FF);
+    AddCrc16(ModbusTxBuf, 6);
+    ModbusTxLen = 8;
+    
+}
+
+uint16_t Crc16(const uint8_t *data, uint16_t length);
+
+void AddCrc16(uint8_t *data, uint16_t length)
+{
+    uint16_t crc16 = Crc16(data, length);
+
+    /*低前高后*/
+    data[length] = (uint8_t)(crc16 & 0x00FF);
+    data[length + 1] = (uint8_t)(crc16 >> 8);
+}
+
+/*crc16校验*/
+uint16_t Crc16(const uint8_t *data, uint16_t length)
+{
+    uint16_t crc;
+    uint16_t byteInd;
+    uint8_t bitInd;
+    
+    crc = 0xFFFFu;
+    for (byteInd = 0u; byteInd < length; byteInd++)
+    {
+        crc ^= (uint16_t)data[byteInd];
+        for (bitInd = 0u; bitInd < 8u; bitInd++)
+        {
+            if ((crc & 0x0001u) != 0u)
+            {
+                crc >>= 1;
+                crc ^= 0xA001u;
+            }
+            else
+            {
+                crc >>= 1;
+            }
+        }
+    }
+    return crc;
+}
+
+/*crc16检查*/
+int8_t ChcekCrc16(uint16_t recCrc16, uint8_t *data, uint16_t length)
+{
+    uint16_t crc16 = Crc16(data, (length - 2));
+
+    if(recCrc16 == crc16)
+    {
+        return 0;
+    }
+    else
+    {
+        return -1;
+    }
+}

modbus/modbus.h

@@ -3,22 +3,21 @@
 
 #include "ucos_ii.h"
 
-/*
- * Modbus task synchronization objects.
- *
- * ModbusReceived:
- *     USART IDLE ISR -> parse task
- * ModbusAssembled:
- *     parse task -> send task
- * ModbusTxCompleted:
- *     USART TC ISR -> send task
- * ModbusTxBufferFree:
- *     ownership of the single transmit buffer
- */
+#define SLAVE_ADDRES   0x01
+
+typedef struct Modbus_Frame
+{
+    uint8_t slaveAddres;    /*从机地址*/
+    uint8_t func;           /*功能码*/
+    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*/
+    uint16_t crc;           /*CRC校验码*/
+}MODBUS_FRAME;
+
 extern OS_EVENT *ModbusReceived;
-extern OS_EVENT *ModbusAssembled;
-extern OS_EVENT *ModbusTxCompleted;
-extern OS_EVENT *ModbusTxBufferFree;
+
 
 void AppTaskModbusParse(void *p_arg);
 void AppTaskModbusSend(void *p_arg);