From cc9da3c87943415090a3d5b3047b786111f4207b Mon Sep 17 00:00:00 2001 From: zwsd Date: Tue, 28 Jun 2022 17:40:42 +0800 Subject: [PATCH] =?UTF-8?q?modbus=E5=8D=8F=E8=AE=AE=E5=88=9D=E5=A7=8B?= =?UTF-8?q?=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- modbus_processer.c | 102 ++++++++++++++++++++++++++++++++++++++++++++ modbus_processer.h | 44 +++++++++++++++++++ zmodbus_common.c | 75 ++++++++++++++++++++++++++++++++ zmodbus_common.h | 122 +++++++++++++++++++++++++++++++++++++++++++++++++++++ zmodbus_slave.c | 84 ++++++++++++++++++++++++++++++++++++ zmodbus_slave.h | 13 ++++++ 6 files changed, 440 insertions(+) diff --git a/modbus_processer.c b/modbus_processer.c index e69de29..2f872b6 100644 --- a/modbus_processer.c +++ b/modbus_processer.c @@ -0,0 +1,102 @@ +#include "modbus_processer.h" + +#include +#include + +/***********************485rx**************************/ +//接收到了多少数据 +volatile uint16_t s_modbus_uart_rx_off = 0; +//当前是否正在处理接收到的数据 +volatile bool s_modbus_uart_rx_buf_is_processing = false; +/***********************485tx**************************/ +static modbus_processer_t* g_processer; + +#define GET_UINT16(uint8) (uint16_t)(((uint16_t)((uint8)[0]) << 8) + (uint8)[1]) + +void modbus_processer_init(modbus_processer_t* processer) { g_processer = processer; } +void modbus_processer_push_data(uint8_t rxdata) { + if (!s_modbus_uart_rx_buf_is_processing) { + if (s_modbus_uart_rx_off < g_processer->modbus_processer_rx_buf_size) { + g_processer->modbus_processer_rx_buf[s_modbus_uart_rx_off] = rxdata; + s_modbus_uart_rx_off++; + } + } +} + +ModbusFunctionCode modbus_get_function_code(modbus_processer_context_t* context) { // + return context->tx->functionCode; +} + +void modbus_set_tx_reg_03(modbus_processer_context_t* context, uint16_t regoff, uint16_t regdata) { + uint16_t off = regoff - context->rx->d.O03.startreg; + ModbusCreateTx_setReg(g_processer->modbus_processer_tx_buf, g_processer->modbus_processer_tx_buf_size, off, // + regdata); +} + +uint16_t modbus_get_reg_10(modbus_processer_context_t* context, uint16_t regoff) { + uint16_t off = regoff - context->rx->d.O10.startreg; + uint8_t* data = context->rx->d.O10.reg; + if ((off + 1) * 2 <= context->rx->d.O10.bytenum) { + uint16_t u16 = GET_UINT16(&data[off * 2]); + return u16; + } else { + uint16_t u16 = data[off * 2]; + return u16; + } +} + +bool modbus_if_register_exists_03(modbus_processer_context_t* context, uint16_t regoff) { + uint16_t startreg = context->rx->d.O03.startreg; + uint16_t endreg = context->rx->d.O03.startreg + context->rx->d.O03.numreg; + return regoff >= startreg && regoff < endreg; +} + +bool modbus_if_register_exists_10(modbus_processer_context_t* context, uint16_t regoff) { + uint16_t startreg = context->rx->d.O10.startreg; + uint16_t endreg = context->rx->d.O10.startreg + context->rx->d.O10.numreg; + return regoff >= startreg && regoff < endreg; +} + +void modbus_send_03(modbus_processer_context_t* context, ModbusStatus modbus_status) { + uint16_t sendlegth = 0; + if (modbus_status == Modbus_OK) { + context->tx->functionCode = context->rx->functionCode; + context->tx->deviceId = g_processer->modbus_device_id; + context->tx->d.O10.regnum = context->rx->d.O10.numreg; + context->tx->d.O10.startreg = context->rx->d.O10.startreg; + //构造回执，并发送 + ModbusCreateTxData(g_processer->modbus_processer_tx_buf, g_processer->modbus_processer_tx_buf_size, &sendlegth, context->tx); + g_processer->tx(g_processer->modbus_processer_tx_buf, sendlegth); + } else { + //构造异常包并发送 + ModbusCreateExceptionData(g_processer->modbus_processer_tx_buf, // + g_processer->modbus_processer_tx_buf_size, // + &sendlegth, // + g_processer->modbus_device_id, // + context->rx->functionCode, // + modbus_status); + g_processer->tx(g_processer->modbus_processer_tx_buf, sendlegth); + } +} + +void modbus_send_10(modbus_processer_context_t* context, ModbusStatus modbus_status) { + uint16_t sendlegth = 0; + if (modbus_status == Modbus_OK) { + context->tx->functionCode = context->rx->functionCode; + context->tx->deviceId = g_processer->modbus_device_id; + context->tx->d.O10.regnum = context->rx->d.O10.numreg; + context->tx->d.O10.startreg = context->rx->d.O10.startreg; + //构造回执，并发送 + ModbusCreateTxData(g_processer->modbus_processer_tx_buf, g_processer->modbus_processer_tx_buf_size, &sendlegth, context->tx); + g_processer->tx(g_processer->modbus_processer_tx_buf, sendlegth); + } else { + //构造异常包并发送 + ModbusCreateExceptionData(g_processer->modbus_processer_tx_buf, // + g_processer->modbus_processer_tx_buf_size, // + &sendlegth, // + g_processer->modbus_device_id, // + context->rx->functionCode, // + modbus_status); + g_processer->tx(g_processer->modbus_processer_tx_buf, sendlegth); + } +} \ No newline at end of file diff --git a/modbus_processer.h b/modbus_processer.h index e69de29..012a12b 100644 --- a/modbus_processer.h +++ b/modbus_processer.h @@ -0,0 +1,44 @@ +#pragma once +#include + +#include "zmodbus_common.h" +#include "zmodbus_slave.h" +#include "zport.h" + +typedef struct { + ModbusMasterData_t* rx; + ModbusSlaveData_t* tx; +} modbus_processer_context_t; + +typedef struct modbus_processer { + uint8_t modbus_device_id; // default 0x01; + + uint8_t* modbus_processer_rx_buf; + uint8_t modbus_processer_rx_buf_size; // + + uint8_t* modbus_processer_tx_buf; + uint8_t modbus_processer_tx_buf_size; // + + /*************************************/ + int modbus_baundrate_one_packet_delay_us; + + void (*port_enter_critical)(); + void (*port_exit_critical)(); + void (*port_delay_us)(uint32_t us); + void (*tx)(uint8_t* rx, uint16_t len); + // + + void (*process_rx)(modbus_processer_context_t* context); +} modbus_processer_t; + +void modbus_processer_init(modbus_processer_t* processer); +void modbus_processer_push_data(uint8_t rxdata); + +ModbusFunctionCode modbus_get_function_code(modbus_processer_context_t* context); +void modbus_set_tx_reg_03(modbus_processer_context_t* context, uint16_t regoff, uint16_t regdata); +uint16_t modbus_get_reg_10(modbus_processer_context_t* context, uint16_t regoff); +bool modbus_if_register_exists_03(modbus_processer_context_t* context, uint16_t regoff); +bool modbus_if_register_exists_10(modbus_processer_context_t* context, uint16_t regoff); + +void modbus_send_03(modbus_processer_context_t* context, ModbusStatus modbus_status); +void modbus_send_10(modbus_processer_context_t* context, ModbusStatus modbus_status); diff --git a/zmodbus_common.c b/zmodbus_common.c index e69de29..d50b261 100644 --- a/zmodbus_common.c +++ b/zmodbus_common.c @@ -0,0 +1,75 @@ +#include "zmodbus_common.h" + +static const uint8_t auchCRCHi[] = { + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40}; +// CRC低位字节值表 +static const uint8_t auchCRCLo[] = { // CRC_16低8位数据区 + 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, + 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, + 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, + 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, + 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, + 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, + 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, + 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, + 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, + 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, + 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, + 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, + 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, + 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, + 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, + 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, + 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, + 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, + 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, + 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, + 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, + 0x41, 0x81, 0x80, 0x40}; + +/*函数功能：CRC校验码生成 +输入参数：puchMsgg是要进行CRC校验的消息，usDataLen是消息中字节数 +函数输出：计算出来的CRC校验码 +GenerateCRC16CheckCode查表计算函数*/ +uint16_t ZGenerateCRC16CheckCode(uint8_t *puckMsg, uint8_t usDataLen) { + volatile uint8_t uchCRCHi = 0xFF; //高CRC字节初始化 + volatile uint8_t uchCRCLo = 0xFF; //低CRC 字节初始化 + volatile uint32_t uIndex; // CRC循环中的索引 + //传输消息缓冲区 + while (usDataLen--) { + //计算CRC + uIndex = uchCRCLo ^ *puckMsg++; + uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex]; + uchCRCHi = auchCRCLo[uIndex]; + } + //返回结果，高位在前 + return (uchCRCLo << 8 | uchCRCHi); +} + +void ZGenerateCRC16CheckCodeToPacket(uint8_t *puckMsg, uint8_t packetlen) { + uint16_t crc = ZGenerateCRC16CheckCode(puckMsg, packetlen - 2); + puckMsg[packetlen - 2] = crc >> 8; + puckMsg[packetlen - 1] = crc; +} + diff --git a/zmodbus_common.h b/zmodbus_common.h index e69de29..8251f58 100644 --- a/zmodbus_common.h +++ b/zmodbus_common.h @@ -0,0 +1,122 @@ +#pragma once + +#include +#include +#include + +/*定义Modbus的操作功能码，支持01、02、03、04、05、06、15、16功能码*/ +typedef enum { + // ReadCoilStatus 读线圈状态（读多个输出位的状态） + ModbusOrder01 = 0x01, + // ReadInputStatus 读输入位状态（读多个输入位的状态） + ModbusOrder02 = 0x02, + // ReadHoldingRegister 读保持寄存器（读多个保持寄存器的数值） + ModbusOrder03 = 0x03, + // ReadInputRegister 读输入寄存器（读多个输入寄存器的数值） + ModbusOrder04 = 0x04, + // WriteSingleCoil 强制单个线圈（强制单个输出位的状态） + ModbusOrder05 = 0x05, + // WriteSingleRegister 预制单个寄存器（设定一个寄存器的数值） + ModbusOrder06 = 0x06, + // WriteMultipleCoil 强制多个线圈（强制多个输出位的状态） + ModbusOrder0F = 0x0F, + // WriteMultipleRegister 预制多个寄存器（设定多个寄存器的数值） + ModbusOrder10 = 0x10, + // ReadFileRecord 读文件记录 + ModbusOrder14 = 0x14, + // WriteFileRecord 写文件记录 + ModbusOrder15 = 0x15, + // MaskWriteRegister 屏蔽写寄存器 + ModbusOrder16 = 0x16, + // ReadWriteMultiRegister 读写多个寄存器 + ModbusOrder17 = 0x17, + // ReadDeviceID读设备识别码 + ModbusOrder2B = 0x2B, +} ModbusFunctionCode; + +/*定义接收到指令检测错误时的错误码*/ +typedef enum { + Modbus_OK = 0x00, + InvalidFunctionCode = 0x01, //不合法功能代码 + IllegalDataAddress = 0x02, //非法的数据地址 + IllegalDataValues = 0x03, //非法的数据值或者范围 + SlaveFailure = 0x04, //从站设备故障 + Acknowledgement = 0x05, //确认 + SlaveDeviceBusy = 0x06, //从属设备忙 + MemoryParityError = 0x08, //存储奇偶性差错 + GatewayDisabled = 0x0A, //不可用网关路径 + GatewayResponseFailed = 0x0B //网关目标设备响应失败 +} ModbusStatus; + +typedef struct { + uint8_t deviceid; + ModbusFunctionCode functionCode; + union { + /**********read************/ + struct { + uint16_t startbit; // bit + uint16_t numbit; // bit + } O01; // ReadCoilStatus + struct { + uint16_t startbit; // bit + uint16_t numbit; // bit + } O02; // ReadInputStatus + struct { + uint16_t startreg; // byte + uint16_t numreg; // reg(一个reg==16bit) + } O03; // ReadInputStatus + struct { + uint16_t startreg; // byte + uint16_t numreg; // reg(一个reg==16bit) + } O04; // ReadInputStatus + /**********write************/ + struct { + uint16_t startbit; // bit + uint16_t numbit; // bit + uint8_t bytenum; + uint8_t *bit; + } O0F; // WriteMultipleCoil + struct { + uint16_t startreg; // byte + uint16_t numreg; // byte + uint8_t bytenum; // numreg*2 + uint8_t *reg; + } O10; // WriteMultipleCoil + } d; +} ModbusMasterData_t; + +typedef struct { + ModbusFunctionCode functionCode; + uint8_t deviceId; + union { + /**********read_receipt************/ + struct { + uint8_t bytenum; // bit + uint8_t *byte_table; + } O01; // ReadCoilStatus + struct { + uint8_t bytenum; // byte_table + uint8_t *byte_table; + } O02; // ReadInputStatus + struct { + uint8_t bytenum; // byte + uint8_t *reg; + } O03; // ReadInputStatus + struct { + uint8_t bytenum; // byte + uint8_t *reg; + } O04; // ReadInputStatus + /**********write_receipt************/ + struct { + uint16_t startbit; + uint16_t bitnum; // bit + } O0F; // WriteMultipleCoil-->对应01 + struct { + uint16_t startreg; + uint16_t regnum; // byte + } O10; // --->对应03 + } d; +} ModbusSlaveData_t; + +void ZGenerateCRC16CheckCodeToPacket(uint8_t *puckMsg, uint8_t packetlen); +uint16_t ZGenerateCRC16CheckCode(uint8_t *puckMsg, uint8_t usDataLen); \ No newline at end of file diff --git a/zmodbus_slave.c b/zmodbus_slave.c index e69de29..2348725 100644 --- a/zmodbus_slave.c +++ b/zmodbus_slave.c @@ -0,0 +1,84 @@ +#include "zmodbus_slave.h" + +#define UINT16ToUINT8(u16d, u8addbegin) \ + { \ + (u8addbegin)[0] = u16d >> 8; \ + (u8addbegin)[1] = (uint8_t)u16d; \ + } + +void ModbusCreateTx_setReg(uint8_t *txbuffer, uint8_t length, uint16_t off, uint16_t regdata) { + if (3 + off * 2 > length - 2) { + return; + } + txbuffer[3 + off * 2] = regdata >> 8; + txbuffer[3 + off * 2 + 1] = (uint8_t)regdata; +} + +void ModbusCreateTxData(uint8_t *txbuffer, uint8_t length, uint16_t *sendlength, ModbusSlaveData_t *txdata) { + /** + * @brief TODO:添加txbuffer长度计算 + */ + if (length < 4) return; + txbuffer[0] = txdata->deviceId; + txbuffer[1] = (uint8_t)txdata->functionCode; + *sendlength = 0; + volatile uint16_t _sendlength = 0; + volatile uint16_t i = 0; + + if (txdata->functionCode == ModbusOrder01 || txdata->functionCode == ModbusOrder02 || + txdata->functionCode == ModbusOrder03 || txdata->functionCode == ModbusOrder04) { + /** + * @brief 01,02 指令操作bit + */ + + //读取多个输出状态 + // sendLen = + // add(1byte)+functionCode(1byte)+addNum(1)+crc(2) = 5+numbyte + volatile uint16_t numbyte = txdata->d.O01.bytenum; + _sendlength = 5 + numbyte; + if (length < _sendlength) return; + txbuffer[2] = txdata->d.O01.bytenum; + if (txdata->d.O01.byte_table != NULL) { + for (i = 0; i < numbyte; i++) { + txbuffer[3 + i] = txdata->d.O01.byte_table[i]; + } + } + } else if (txdata->functionCode == ModbusOrder0F || txdata->functionCode == ModbusOrder10) { + //写入多个输出 + // sendLen = add(1byte)+functionCode(1byte)+startAdd(2)+addNum(2)+crc(2) = 8 + _sendlength = 8; + if (length < _sendlength) return; + + UINT16ToUINT8(txdata->d.O0F.startbit, &txbuffer[2]); + UINT16ToUINT8(txdata->d.O0F.bitnum, &txbuffer[4]); + } else { + /** + * @brief Not support now + */ + } + // calculate crc + if (_sendlength > 2) { + ZGenerateCRC16CheckCodeToPacket(txbuffer, _sendlength); + } + *sendlength = _sendlength; +} + +void ModbusCreateExceptionData(uint8_t *txbuffer, uint8_t length, uint16_t *sendlength, uint8_t deviceid, + uint8_t functioncode, ModbusStatus status) { + /** + * @brief TODO:添加txbuffer长度计算 + */ + volatile uint16_t _sendlength = 0; + volatile uint16_t i = 0; + + if (length < 4) return; + txbuffer[0] = deviceid; + txbuffer[1] = functioncode | 0x80; + txbuffer[2] = (uint8_t)status; + *sendlength = 0; + // sendLen = add(1byte)+functionCode(1byte)+exception(1)+crc(2) = 4 + _sendlength = 4; + ZGenerateCRC16CheckCodeToPacket(txbuffer, _sendlength); + *sendlength = _sendlength; + return; +} \ No newline at end of file diff --git a/zmodbus_slave.h b/zmodbus_slave.h index e69de29..160c4da 100644 --- a/zmodbus_slave.h +++ b/zmodbus_slave.h @@ -0,0 +1,13 @@ +#pragma once +#ifdef __cplusplus +extern "C" { +#endif +#include "zmodbus_common.h" + +void ModbusCreateTx_setReg(uint8_t *txbuffer, uint8_t length, uint16_t off, uint16_t regdata); +void ModbusCreateTxData(uint8_t *txbuffer, uint8_t length, uint16_t *sendlength, ModbusSlaveData_t *txdata); +void ModbusCreateExceptionData(uint8_t *txbuffer, uint8_t length, uint16_t *sendlength, uint8_t deviceid, uint8_t functioncode, ModbusStatus status); + +#ifdef __cplusplus +} +#endif