Razvalyaev/Arduino_Modbus
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Razvalyaev 2025-08-31 14:27:25 +03:00
parent ef623e8b0b
commit f5210ce050
7 changed files with 1100 additions and 1104 deletions
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2
crc_algs.cpp
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@ -1,4 +1,4 @@
#include "crc_algs.h" #include "modbus/crc_algs.h"
uint32_t CRC_calc; uint32_t CRC_calc;

51
modbus.cpp
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@ -11,6 +11,9 @@
* *
* @section Функции и макросы * @section Функции и макросы
* *
* ### Инициализация:
* - MODBUS_FirstInit() — Инициализация модуля Modbus.
*
* ### Доступ к coils: * ### Доступ к coils:
* - MB_Set_Coil_Local() — Установить coil по локальному адресу. * - MB_Set_Coil_Local() — Установить coil по локальному адресу.
* - MB_Reset_Coil_Local() — Сбросить coil по локальному адресу. * - MB_Reset_Coil_Local() — Сбросить coil по локальному адресу.
@ -36,8 +39,6 @@
* - RS_Define_Size_of_RX_Message() — Определение размера принимаемого сообщения. * - RS_Define_Size_of_RX_Message() — Определение размера принимаемого сообщения.
* - RS_Init() — Инициализация UART. * - RS_Init() — Инициализация UART.
* *
* ### Инициализация:
* - MODBUS_FirstInit() — Инициализация модуля Modbus.
* *
* @section Структура данных Modbus * @section Структура данных Modbus
* *
@ -52,21 +53,27 @@
* @section Инструкция по подключению * @section Инструкция по подключению
* Настройте modbus_config.h дефайны для нужной работы UART * Настройте modbus_config.h дефайны для нужной работы UART
* *
* После для запуска Modbus: * Минимум для запуска Modbus:
* @verbatim * @verbatim
//----------------Прием модбас----------------//
#include "rs_message.h" #include "rs_message.h"
MODBUS_FirstInit(); MODBUS_FirstInit();
void loop() void loop()
{ {
RS_Process(&hmodbus1);(&hmodbus1, &MODBUS_MSG); RS_Process(&hmodbus1);
} }
* @endverbatim * @endverbatim
* Для RTOS:
* @verbatim
#include "rs_message.h"
MODBUS_FirstInit();
xTaskCreatePinnedToCore(RS_Task, "Modbus", 4096, &hmodbus1, 2, NULL, 1);
* @endverbatim
* *
******************************************************************************/ ******************************************************************************/
#include "crc_algs.h" #include "modbus/crc_algs.h"
#include "rs_message.h" #include "modbus/rs_message.h"
uint32_t dbg_temp, dbg_temp2, dbg_temp3; // for debug uint32_t dbg_temp, dbg_temp2, dbg_temp3; // for debug
RS_HandleTypeDef hmodbus1; RS_HandleTypeDef hmodbus1;
@ -94,7 +101,7 @@ void MODBUS_FirstInit(void)
hmodbus1.pMessagePtr = &MODBUS_MSG; hmodbus1.pMessagePtr = &MODBUS_MSG;
hmodbus1.rx_pin = MODBUS_RX_PIN; hmodbus1.rx_pin = MODBUS_RX_PIN;
hmodbus1.tx_pin = MODBUS_TX_PIN; hmodbus1.tx_pin = MODBUS_TX_PIN;
hmodbus1.taskDelay = RS_IN_FREERTOS; hmodbus1.taskDelay = RS_IN_RTOS;
// INIT // INIT
hmodbus1.RS_STATUS = RS_Init(&hmodbus1, &rs_huart, MODBUS_SPEED, 0); hmodbus1.RS_STATUS = RS_Init(&hmodbus1, &rs_huart, MODBUS_SPEED, 0);
@ -342,14 +349,14 @@ uint8_t MB_Read_Coils(RS_MsgTypeDef *modbus_msg)
shift = 0; // set shift to zero for the next step shift = 0; // set shift to zero for the next step
//-----------READ COILS-------------- //-----------READ COILS--------------
modbus_msg->DATA[ind] = (*(coils+ind)&mask_for_coils) >> start_shift; modbus_msg->DWDATA[ind] = (*(coils+ind)&mask_for_coils) >> start_shift;
if(ind > 0) if(ind > 0)
modbus_msg->DATA[ind-1] |= ((*(coils+ind)&mask_for_coils) << 16) >> start_shift; modbus_msg->DWDATA[ind-1] |= ((*(coils+ind)&mask_for_coils) << 16) >> start_shift;
} }
// т.к. DATA 16-битная, для 8-битной передачи, надо поменять местами верхний и нижний байты // т.к. DWDATA 16-битная, для 8-битной передачи, надо поменять местами верхний и нижний байты
for(; ind >= 0; --ind) for(; ind >= 0; --ind)
modbus_msg->DATA[ind] = ByteSwap16(modbus_msg->DATA[ind]); modbus_msg->DWDATA[ind] = ByteSwap16(modbus_msg->DWDATA[ind]);
return 1; return 1;
} }
@ -377,7 +384,7 @@ uint8_t MB_Read_Hold_Regs(RS_MsgTypeDef *modbus_msg)
int i; int i;
for (i = 0; i<modbus_msg->Qnt; i++) for (i = 0; i<modbus_msg->Qnt; i++)
{ {
modbus_msg->DATA[i] = *(pHoldRegs++); modbus_msg->DWDATA[i] = *(pHoldRegs++);
} }
return 1; return 1;
} }
@ -406,9 +413,9 @@ uint8_t MB_Read_Input_Regs(RS_MsgTypeDef *modbus_msg)
for (i = 0; i<modbus_msg->Qnt; i++) for (i = 0; i<modbus_msg->Qnt; i++)
{ {
if(*((int16_t *)pInRegs) > 0) if(*((int16_t *)pInRegs) > 0)
modbus_msg->DATA[i] = (*pInRegs++); modbus_msg->DWDATA[i] = (*pInRegs++);
else else
modbus_msg->DATA[i] = (*pInRegs++); modbus_msg->DWDATA[i] = (*pInRegs++);
} }
return 1; return 1;
} }
@ -510,10 +517,10 @@ uint8_t MB_Write_Miltuple_Coils(RS_MsgTypeDef *modbus_msg)
// get current coils // get current coils
temp_reg = *(coils+ind); temp_reg = *(coils+ind);
// set coils // set coils
setted_coils = ByteSwap16(modbus_msg->DATA[ind]) << start_shift; setted_coils = ByteSwap16(modbus_msg->DWDATA[ind]) << start_shift;
if(ind > 0) if(ind > 0)
{ {
setted_coils |= ((ByteSwap16(modbus_msg->DATA[ind-1]) << start_shift) >> 16); setted_coils |= ((ByteSwap16(modbus_msg->DWDATA[ind-1]) << start_shift) >> 16);
} }
// write coils // write coils
@ -552,7 +559,7 @@ uint8_t MB_Write_Miltuple_Regs(RS_MsgTypeDef *modbus_msg)
//-----------WRITTING REGS----------- //-----------WRITTING REGS-----------
for (int i = 0; i<modbus_msg->Qnt; i++) for (int i = 0; i<modbus_msg->Qnt; i++)
{ {
*(pHoldRegs++) = modbus_msg->DATA[i]; *(pHoldRegs++) = modbus_msg->DWDATA[i];
} }
return 1; return 1;
} }
@ -573,7 +580,7 @@ void MB_WriteObjectToMessage(char *mbdata, unsigned *ind, MB_DeviceObjectTypeDef
*/ */
uint8_t MB_Read_Device_Identification(RS_MsgTypeDef *modbus_msg) uint8_t MB_Read_Device_Identification(RS_MsgTypeDef *modbus_msg)
{ {
char *mbdata = (char *)modbus_msg->DATA; char *mbdata = (char *)modbus_msg->DWDATA;
unsigned ind = 0; unsigned ind = 0;
switch(modbus_msg->DevId.ReadDevId) switch(modbus_msg->DevId.ReadDevId)
{ {
@ -769,7 +776,7 @@ RS_StatusTypeDef RS_Collect_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *mo
//---------------DATA---------------- //---------------DATA----------------
//-----------[data bytes]------------ //-----------[data bytes]------------
uint8_t *tmp_data_addr = (uint8_t *)modbus_msg->DATA; uint8_t *tmp_data_addr = (uint8_t *)modbus_msg->DWDATA;
for(int i = 0; i < modbus_msg->ByteCnt; i++) // filling buffer with data for(int i = 0; i < modbus_msg->ByteCnt; i++) // filling buffer with data
{ // set data { // set data
modbus_uart_buff[ind++] = *tmp_data_addr; modbus_uart_buff[ind++] = *tmp_data_addr;
@ -790,7 +797,7 @@ RS_StatusTypeDef RS_Collect_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *mo
//---------------DATA---------------- //---------------DATA----------------
//-----------[data bytes]------------ //-----------[data bytes]------------
uint16_t *tmp_data_addr = (uint16_t *)modbus_msg->DATA; uint16_t *tmp_data_addr = (uint16_t *)modbus_msg->DWDATA;
for(int i = 0; i < modbus_msg->ByteCnt; i++) // filling buffer with data for(int i = 0; i < modbus_msg->ByteCnt; i++) // filling buffer with data
{ // set data { // set data
if (i%2 == 0) // HI byte if (i%2 == 0) // HI byte
@ -878,7 +885,7 @@ RS_StatusTypeDef RS_Parse_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modb
MB_DEBUG_PRINT("[MB] Request is invalid (ByteCnt not match DataSize)"); MB_DEBUG_PRINT("[MB] Request is invalid (ByteCnt not match DataSize)");
return RS_PARSE_MSG_ERR; return RS_PARSE_MSG_ERR;
} }
uint16_t *tmp_data_addr = (uint16_t *)modbus_msg->DATA; uint16_t *tmp_data_addr = (uint16_t *)modbus_msg->DWDATA;
for(int i = 0; i < modbus_msg->ByteCnt; i++) // /2 because we transmit 8 bits, not 16 bits for(int i = 0; i < modbus_msg->ByteCnt; i++) // /2 because we transmit 8 bits, not 16 bits
{ // set data { // set data
if (i%2 == 0) if (i%2 == 0)

12
modbus.h
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@ -12,9 +12,8 @@
#ifndef __MODBUS_H_ #ifndef __MODBUS_H_
#define __MODBUS_H_ #define __MODBUS_H_
#include "modbus_config.h" #include "modbus/modbus_config.h"
#include "modbus_data.h" #include "modbus/modbus_data.h"
//#include "settings.h" // for modbus settings
/** /**
* @addtogroup MODBUS_SETTINGS * @addtogroup MODBUS_SETTINGS
@ -22,11 +21,6 @@
* @brief Some defines for modbus * @brief Some defines for modbus
@{ @{
*/ */
/////////////////////////////////////////////////////////////////////
//////////////////////////---SETTINGS---/////////////////////////////
// USER SETTINGS FOR MODBUS IN interface_config.h
//////////////////////////---SETTINGS---/////////////////////////////
///////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////
/////////////////////---USER MESSAGE DEFINES---////////////////////// /////////////////////---USER MESSAGE DEFINES---//////////////////////
@ -141,7 +135,7 @@ typedef struct // RS_MsgTypeDef
uint16_t Qnt; ///< Quantity of modbus data uint16_t Qnt; ///< Quantity of modbus data
uint8_t ByteCnt; ///< Quantity of bytes of data in message to transmit/receive uint8_t ByteCnt; ///< Quantity of bytes of data in message to transmit/receive
uint16_t DATA[DATA_SIZE]; ///< Modbus Data uint16_t DWDATA[DATA_SIZE]; ///< Modbus Data (Words)
MB_ExceptionTypeDef Except_Code; ///< Exception Code for the command MB_ExceptionTypeDef Except_Code; ///< Exception Code for the command
uint16_t MB_CRC; ///< Modbus CRC uint16_t MB_CRC; ///< Modbus CRC

5
modbus_config.h
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@ -7,8 +7,7 @@
#ifndef _MODBUS_CONFIG_H_ #ifndef _MODBUS_CONFIG_H_
#define _MODBUS_CONFIG_H_ #define _MODBUS_CONFIG_H_
#define RS_IN_FREERTOS 20 ///< значение - период таска #define RS_IN_RTOS 20 ///< значение - период таска
// Включить/выключить debug // Включить/выключить debug
#define RS_DEBUG 1 ///< Отладка приема/передачи UART #define RS_DEBUG 1 ///< Отладка приема/передачи UART
@ -21,7 +20,7 @@
// PERIPH FUNCTIONS AND HANDLERS // PERIPH FUNCTIONS AND HANDLERS
#define HUART_TypeDef HardwareSerial #define HUART_TypeDef HardwareSerial
#define rs_huart Serial1 //используемый uart #define rs_huart Serial2 //используемый uart1`
#define MODBUS_SPEED 115200 #define MODBUS_SPEED 115200
#define MODBUS_RX_PIN 8 #define MODBUS_RX_PIN 8
#define MODBUS_TX_PIN 9 #define MODBUS_TX_PIN 9

2
modbus_data.h
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@ -135,7 +135,7 @@ extern MB_DataStructureTypeDef MB_DATA;
typedef struct typedef struct
{ {
unsigned length; unsigned length;
char *name; const char *name;
}MB_DeviceObjectTypeDef; }MB_DeviceObjectTypeDef;
/** /**
* @brief Структура для объектов Modbus * @brief Структура для объектов Modbus

14
rs_message.cpp
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@ -35,7 +35,7 @@
* *
* @note * @note
* - В режиме Arduino loop необходимо вызывать RS_Process() в основном цикле. * - В режиме Arduino loop необходимо вызывать RS_Process() в основном цикле.
* - В режиме FreeRTOS требуется определить макрос RS_IN_FREERTOS, * - В режиме FreeRTOS требуется определить макрос RS_IN_RTOS,
* создать задачу RS_Task и подключить RS_UART_RX_Handler() к ISR UART. * создать задачу RS_Task и подключить RS_UART_RX_Handler() к ISR UART.
* - UART используется через стандартный Arduino Stream API (write, read, available). * - UART используется через стандартный Arduino Stream API (write, read, available).
* *
@ -50,7 +50,7 @@ void loop() {
RS_Process(&hRS); RS_Process(&hRS);
} }
* @endverbatim * @endverbatim
* Пример использования с FreeRTOS: * Пример использования с RTOS:
* @verbatim * @verbatim
RS_HandleTypeDef hRS; RS_HandleTypeDef hRS;
RS_MsgTypeDef msg; RS_MsgTypeDef msg;
@ -65,11 +65,7 @@ void eventSerial() {
* @endverbatim * @endverbatim
**************************************************************************/ **************************************************************************/
#include "rs_message.h" #include "modbus/rs_message.h"
#ifdef RS_IN_FREERTOS
#include <FreeRTOS.h>
#endif
uint8_t RS_Buffer[MSG_SIZE_MAX]; // uart buffer uint8_t RS_Buffer[MSG_SIZE_MAX]; // uart buffer
@ -187,7 +183,7 @@ RS_StatusTypeDef RS_Handle_Transmit_Start(RS_HandleTypeDef *hRS, RS_MsgTypeDef *
return RS_OK; return RS_OK;
} }
#ifdef RS_IN_FREERTOS #ifdef RS_IN_RTOS
/** /**
* @brief Задача обработки UART приёма (FreeRTOS). * @brief Задача обработки UART приёма (FreeRTOS).
@ -203,7 +199,7 @@ void RS_Task(void *pvParameters) {
vTaskDelay(pdMS_TO_TICKS(hRS->taskDelay)); vTaskDelay(pdMS_TO_TICKS(hRS->taskDelay));
} }
} }
#endif // RS_IN_FREERTOS #endif // RS_IN_RTOS
/** /**

4
rs_message.h
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@ -21,7 +21,7 @@
*************************************************************************/ *************************************************************************/
#ifndef __RS_LIB_H_ #ifndef __RS_LIB_H_
#define __RS_LIB_H_ #define __RS_LIB_H_
#include "modbus.h" #include "modbus/modbus.h"
///////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////
////////////////////////////---DEFINES---//////////////////////////// ////////////////////////////---DEFINES---////////////////////////////
@ -148,7 +148,7 @@ typedef struct // RS_HandleTypeDef
uint8_t ID; ///< ID of RS "channel" uint8_t ID; ///< ID of RS "channel"
RS_MsgTypeDef *pMessagePtr; ///< pointer to message struct RS_MsgTypeDef *pMessagePtr; ///< pointer to message struct
uint8_t *pBufferPtr; ///< pointer to message buffer uint8_t *pBufferPtr; ///< pointer to message buffer
#ifdef RS_IN_FREERTOS #ifdef RS_IN_RTOS
uint16_t taskDelay; ///< freertos buffer uint16_t taskDelay; ///< freertos buffer
#endif #endif
uint32_t RS_Message_Size; ///< size of whole message, not only data uint32_t RS_Message_Size; ///< size of whole message, not only data