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modbus.c
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#include "modbus.h"
#include <stdarg.h>
static void print_controlled(const char* fmt, ...)
{
static char buf[256];
va_list ap;
va_start(ap, fmt);
vsprintf(buf, fmt, ap);
va_end(ap);
myprintf(buf);
}
/** 配置ModBus实例 **/
/*** 参数 ***
** address: 设备地址
** frameType: 协议模式
** sendHandler: 发送数据的外部接口, 比如绑定到串口发送函数, 传入参数(byte* buff, size_t buffLen), 参数包括数据指针和数据长度
***/
void ModBus_setup( ModBus_parameter* ModBus_para, ModBus_Setting_T setting)
{
ModBus_para->m_address = setting.address;
ModBus_para->m_modeType = setting.frameType;
ModBus_para->m_receiveFrameBufferLen = 0;
ModBus_para->m_sendFramesN = 0;
ModBus_para->m_nextFrameIndex = 1; // 数据包序号从1开始
//ModBus_para->m_receiveBufferTmpLen = 0;
ModBus_para->m_pBeginReceiveBufferTmp = ModBus_para->m_receiveBufferTmp;
ModBus_para->m_pEndReceiveBufferTmp = ModBus_para->m_receiveBufferTmp;
ModBus_para->m_hasDetectedBufferStart = 0;
ModBus_para->m_registerCount = 0;
if (setting.register_access_limit > 0 && setting.register_access_limit <= MODBUS_REGISTER_LIMIT)
{
ModBus_para->m_registerAcessLimit = setting.register_access_limit;
}
else
{
ModBus_para->m_registerAcessLimit = MODBUS_REGISTER_LIMIT;
}
if (setting.baudRate == 0)
{
setting.baudRate = MODBUS_DEFAULT_BAUD;
}
ModBus_para->m_receiveTimeout = 4000u * 8u / setting.baudRate + 2u;
ModBus_para->m_sendTimeout = ((ModBus_para->m_registerAcessLimit * 4u + 20u) * 2000u + 7000u) * 8u / setting.baudRate + 5u;
ModBus_para->m_lastReceivedTime = ModBus_para->m_lastSentTime = millis();
ModBus_para->m_faston = 0; // 默认关闭快速模式, 保证初始化的时候指令能按顺序被执行
ModBus_para->m_SendHandler = setting.sendHandler;
#ifdef MODBUS_MASTER // 主机
#endif
#ifdef MODBUS_SLAVE // 从机
ModBus_para->m_GetRegisterHandler = NULL;
ModBus_para->m_SetRegisterHandler = NULL;
#endif
}
/** 设置数据收发速率 **/
/*** 参数 ***
** baud: 数据收发速率
** 注: 可以不设置, 使用默认超时时间( 符合波特率9600, 波特率大于9600可以不设置, 小于必须设置 )
***/
void ModBus_setBitRate(ModBus_parameter* ModBus_para, u32 baud)
{
if (baud > 0)
{
ModBus_para->m_receiveTimeout = 4000u * 8u / baud + 2u;
ModBus_para->m_sendTimeout = ((ModBus_para->m_registerAcessLimit * 4u + 20u) * 2000u + 7000u) * 8u / baud + 15u;
}
}
/** 设置接收超时时间 **/
/*** 参数 ***
** receiveTimeout: 接收时等待下一字节超时时间, 根据串口速率确定
** sendTimeout: 发送后等待返回帧超时时间, 根据串口速率确定
** 注: 可以不设置, 使用默认超时时间
***/
void ModBus_setTimeout(ModBus_parameter* ModBus_para, u32 receiveTimeout, u32 sendTimeout)
{
if (receiveTimeout > 0)
ModBus_para->m_receiveTimeout = receiveTimeout;
if (sendTimeout > 0)
ModBus_para->m_sendTimeout = sendTimeout;
}
// RTU模式时, 产生CRC校验码并添加到数据尾部
// Calculate CRC for outcoming buffer
// and place it to end.
// return total length
static size_t GenCRC16(byte* buff, size_t len)
{
uint16_t crc = 0xFFFF;
uint16_t pos = 0;
uint8_t i = 0;
uint8_t lo = 0;
uint8_t hi = 0;
for (pos = 0; pos < len; pos++)
{
crc ^= buff[pos];
for (i = 8; i != 0; i--)
{
if ((crc & 0x0001) != 0)
{
crc >>= 1;
crc ^= 0xA001;
}
else
crc >>= 1;
}
}
lo = crc & 0xFF;
hi = (crc >> 8) & 0xFF;
buff[len++] = lo;
buff[len++] = hi;
return len;
}
// RTU模式时, 计算CRC校验码, 给定初值
// Calculate CRC fro incoming buffer
// Return 1 - if CRC is correct, overwise return 0
static byte CheckCRC16(byte* buff, size_t len)
{
uint16_t crc = 0xFFFF;
uint16_t pos = 0;
uint8_t i = 0;
uint8_t lo = 0;
uint8_t hi = 0;
for (pos = 0; pos < len - 2; pos++)
{
crc ^= buff[pos];
for (i = 8; i != 0; i--)
{
if ((crc & 0x0001) != 0)
{
crc >>= 1;
crc ^= 0xA001;
}
else
crc >>= 1;
}
}
lo = crc & 0xFF;
hi = (crc >> 8) & 0xFF;
if ((buff[len - 2] == lo) &&
(buff[len - 1] == hi))
{
return 1;
}
#ifdef _UNIT_TEST
printf("CRC Check ERROR\n");
#endif // _UNIT_TEST
return 0;
}
// ASCII模式时, 产生LRC校验码并添加到数据尾部
static size_t GenLRC(byte* buff, size_t len)
{
size_t i = len;
uint8_t uchLRC = 0; /* LRC 字节初始化 */
while (i--)
uchLRC += *buff++; /* 累加*/
uchLRC = ((uint8_t)(-((char)uchLRC)));
*buff = uchLRC;
return len + 1;
}
// ASCII模式时, 校验LRC校验码,
static uint8_t CheckLRC(byte* buff, size_t len)
{
uint8_t uchLRC = 0; /* LRC 字节初始化 */
uint8_t LRC1 = buff[--len];
while (len--)
uchLRC += *buff++; /* 累加*/
uchLRC = ((uint8_t)(-((char)uchLRC)));
if (LRC1 == uchLRC)
return 1;
#ifdef _UNIT_TEST
printf("LRC Check ERROR\n");
#endif // _UNIT_TEST
return 0;
}
// ASCII模式时, 接收到的字符串转换为字节二进制
static size_t char2bin(byte* buff, size_t len)
{
size_t binInd = 0;
for (size_t i = 0; i < len; i++)
{
byte bin = 0, chr = buff[i];
if ((chr >= '0') && (chr <= '9'))
{
bin = (byte)(chr - '0');
}
else if ((chr >= 'A') && (chr <= 'F'))
{
bin = (byte)(chr - 'A' + 0x0A);
}
if (i % 2 == 0)
{
buff[binInd] = bin;
}
else
{
buff[binInd] = (buff[binInd] << 4) + bin;
binInd++;
}
}
return binInd;
}
// ASCII模式时, 字节二进制转换为字符串, 用于发送
static size_t bin2char_s(byte* buff, size_t len, size_t maxLen)
{
size_t binLen = len * 2;
size_t ret = binLen;
if (ret > maxLen)
{
return 0;
}
while (len--)
{
for (int i = 0; i < 2; i++)
{
byte bin = (buff[len] >> 4 * i) & 0x0F;
char chr = 0;
if ((bin >= 0) && (bin <= 9))
{
chr = (char)(bin + '0');
}
else if ((bin >= 0x0A) && (bin <= 0x0F))
{
chr = (char)(bin - 0x0A + 'A');
}
buff[--binLen] = chr;
}
}
return ret;
}
static MODBUS_FRAME_T* addFrame(ModBus_parameter* ModBus_para)
{
MODBUS_FRAME_T* pFrame;
if (ModBus_para->m_sendFramesN >= MODBUS_WAITFRAME_N)
{
memcpy(ModBus_para->m_sendFrames, ModBus_para->m_sendFrames + 1, (ModBus_para->m_sendFramesN - 1) * sizeof(MODBUS_FRAME_T));
pFrame = ModBus_para->m_sendFrames + (ModBus_para->m_sendFramesN - 1);
}
else
{
pFrame = ModBus_para->m_sendFrames + (ModBus_para->m_sendFramesN++);
}
pFrame->index = ModBus_para->m_nextFrameIndex++;
if (ModBus_para->m_nextFrameIndex == 0) // 指令序号不为0
{
ModBus_para->m_nextFrameIndex = 1;
}
pFrame->size = 0;
pFrame->responseHandler = NULL;
pFrame->time = millis();
MODBUS_DELAY_DEBUG(("Frame Len %d\n", ModBus_para->m_sendFramesN));
return pFrame;
}
// 接收字节数据到ModBus协议, 一般在中断函数中调用(如串口接收中断)
void ModBus_readByteFromOuter(ModBus_parameter* ModBus_para, byte receivedByte)
{
#ifdef _UNIT_TEST
printf("address %02x read byte: %02x\n", ModBus_para->m_address, receivedByte);
#endif // _UNIT_TEST
/*** 此函数 内部 不可更改 ModBus_para->m_pBeginReceiveBufferTmp 值!!!!!!!!!!!!!
**** 此函数 外部 不可更改 ModBus_para->m_pEndReceiveBufferTmp 值!!!!!!!!!!!!!!!
**** 避免内存写冲突, 保证数据完整性***/
*ModBus_para->m_pEndReceiveBufferTmp = receivedByte;
if (ModBus_para->m_pEndReceiveBufferTmp >= ModBus_para->m_receiveBufferTmp + MODBUS_BUFFER_SIZE - 1)
{
ModBus_para->m_pEndReceiveBufferTmp = ModBus_para->m_receiveBufferTmp;
}
else
{
ModBus_para->m_pEndReceiveBufferTmp++;
}
if (ModBus_para->m_pEndReceiveBufferTmp == ModBus_para->m_pBeginReceiveBufferTmp)
{
ModBus_para->m_pEndReceiveBufferTmp--;
if (ModBus_para->m_pEndReceiveBufferTmp < ModBus_para->m_receiveBufferTmp)
{
ModBus_para->m_pEndReceiveBufferTmp = ModBus_para->m_receiveBufferTmp + (MODBUS_BUFFER_SIZE - 1);
}
}
ModBus_para->m_lastReceivedTime = millis();
}
void ModBus_fastMode(ModBus_parameter* ModBus_para, byte faston)
{
ModBus_para->m_faston = faston;
}
// 检查接收数据包, 存在有效数据返回1, 否则返回0
static byte ModBus_detectFrame(ModBus_parameter* ModBus_para, size_t* restSize)
{
size_t i = 0, j = 0;
byte* pEnd, *pBegin;
size_t lenBufferTmp;
u8 frameSize = 0;
#ifdef MODBUS_MASTER
if (ModBus_para->m_sendFramesN > 0)
{
frameSize = ModBus_para->m_sendFrames[0].responseSize;
}
#endif
pEnd = ModBus_para->m_pEndReceiveBufferTmp;
pBegin = ModBus_para->m_pBeginReceiveBufferTmp; // volatile变量必须赋值给非volatile变量再操作, 否则有一定几率出现数据不完整
lenBufferTmp = pEnd - pBegin;
if (pEnd < pBegin)
{
lenBufferTmp = (size_t)MODBUS_BUFFER_SIZE - (pBegin - pEnd);
}
*restSize = 0;
switch (ModBus_para->m_modeType)
{
case ASCII:
{
if (lenBufferTmp == 0)
{
return 0;
}
if (!ModBus_para->m_hasDetectedBufferStart)
{// 检测起始字符
for (i = 0; i < lenBufferTmp; i++, pBegin++)
{
if (pBegin >= ModBus_para->m_receiveBufferTmp + MODBUS_BUFFER_SIZE)
{
pBegin = ModBus_para->m_receiveBufferTmp;
}
if (*pBegin == ':') // 检测到起始字符
{
ModBus_para->m_hasDetectedBufferStart = 1;
i++;
pBegin++;
if (pBegin >= ModBus_para->m_receiveBufferTmp + MODBUS_BUFFER_SIZE)
{
pBegin = ModBus_para->m_receiveBufferTmp;
}
break;
}
}
}
if (ModBus_para->m_hasDetectedBufferStart)
{// 检测结束字符
for (j = i; j < lenBufferTmp; j++, pBegin++)
{
if (pBegin >= ModBus_para->m_receiveBufferTmp + MODBUS_BUFFER_SIZE)
{
pBegin = ModBus_para->m_receiveBufferTmp;
}
if (*pBegin == '\r') // 检测到结束字符
{
break;
}
ModBus_para->m_receiveFrameBuffer[ModBus_para->m_receiveFrameBufferLen++] = *pBegin;
}
}
else // 没有检测到起始字符, 则接收数据异常
{
ModBus_para->m_pBeginReceiveBufferTmp = pEnd; // 抛弃pBegin到pEnd之间的数据, 保留pEnd之后新加的数据, 因为此上面处理过程中, 可能有新的数据被接收
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
if (j == lenBufferTmp) // 如果没有检测到结束字符, 返回继续接收
{
ModBus_para->m_pBeginReceiveBufferTmp = pEnd;
return 0;
}
else if (j + 1 == lenBufferTmp) // 如果回车结束字符是最后一个字符, 则保留回车字符返回继续接收
{
ModBus_para->m_pBeginReceiveBufferTmp = pBegin;;
return 0;
}
pBegin++;
if (pBegin >= ModBus_para->m_receiveBufferTmp + MODBUS_BUFFER_SIZE)
{
pBegin = ModBus_para->m_receiveBufferTmp;
}
if (*pBegin != '\n') // 如果下一个字符不是换行符, 则接收数据异常
{
ModBus_para->m_hasDetectedBufferStart = 0;
ModBus_para->m_pBeginReceiveBufferTmp = pEnd;
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
ModBus_para->m_pBeginReceiveBufferTmp = pEnd;
ModBus_para->m_receiveFrameBufferLen = char2bin(ModBus_para->m_receiveFrameBuffer, ModBus_para->m_receiveFrameBufferLen);
if (ModBus_para->m_receiveFrameBuffer[0] != ModBus_para->m_address)
{
ModBus_para->m_hasDetectedBufferStart = 0;
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
if (!CheckLRC(ModBus_para->m_receiveFrameBuffer, ModBus_para->m_receiveFrameBufferLen)) // 如果校验不通过
{
ModBus_para->m_hasDetectedBufferStart = 0;
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
//MODBUS_DEBUG(("ModBus rec: %*s\n", ModBus_para->m_receiveFrameBufferLen, ModBus_para->m_receiveFrameBuffer));
ModBus_para->m_receiveFrameBufferLen--; // 去除校验码
ModBus_para->m_hasDetectedBufferStart = 0;
break;
}
case RTU:
{
byte isTimeout = 0;
if (lenBufferTmp == 0) // 由于接收超时, 没有接收到数据
{
isTimeout = 1;
}
if (!ModBus_para->m_hasDetectedBufferStart)
{// 检测起始字节
for (i = 0; i < lenBufferTmp; i++, pBegin++)
{
if (*pBegin == ModBus_para->m_address) // 检测到地址
{
ModBus_para->m_hasDetectedBufferStart = 1;
ModBus_para->m_receiveFrameBuffer[ModBus_para->m_receiveFrameBufferLen++] = *pBegin;
i++;
pBegin++;
break;
}
}
}
if (ModBus_para->m_hasDetectedBufferStart)
{
// 拷贝所有临时缓冲区的数据到接收数据缓冲区
size_t newSize = lenBufferTmp - i;
if (ModBus_para->m_receiveFrameBufferLen + newSize > MODBUS_BUFFER_SIZE)
{
newSize = MODBUS_BUFFER_SIZE - ModBus_para->m_receiveFrameBufferLen;
}
if (pBegin <= pEnd)
{
memcpy(ModBus_para->m_receiveFrameBuffer + ModBus_para->m_receiveFrameBufferLen, pBegin, newSize);
}
else
{
memcpy(ModBus_para->m_receiveFrameBuffer + ModBus_para->m_receiveFrameBufferLen, pBegin, (size_t)MODBUS_BUFFER_SIZE - (pBegin - ModBus_para->m_receiveBufferTmp));
memcpy(ModBus_para->m_receiveFrameBuffer + ModBus_para->m_receiveFrameBufferLen, (void*)ModBus_para->m_receiveBufferTmp, pEnd - ModBus_para->m_receiveBufferTmp);
}
ModBus_para->m_receiveFrameBufferLen += newSize;
ModBus_para->m_pBeginReceiveBufferTmp = pEnd;
}
else // 没有检测到起始字符, 则接收数据异常
{
ModBus_para->m_pBeginReceiveBufferTmp = pEnd;
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
if (!(isTimeout // 接收超时
|| frameSize > 0 && ModBus_para->m_receiveFrameBufferLen >= frameSize // 数据包足够
|| ModBus_para->m_receiveFrameBufferLen >= MODBUS_BUFFER_SIZE)) // 缓冲区满
{
// 接收未结束, 返回继续接收数据
return 0;
}
if (ModBus_para->m_receiveFrameBufferLen < 2) // 接收超时且数据不足为异常
{
ModBus_para->m_pBeginReceiveBufferTmp = pEnd;
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
if (!CheckCRC16(ModBus_para->m_receiveFrameBuffer, ModBus_para->m_receiveFrameBufferLen)) // 如果校验不通过
{
if (frameSize > 0 && frameSize < ModBus_para->m_receiveFrameBufferLen) // 如果数据长度比m_responseFrameLen长, 则尝试以m_responseFrameLen长度接收
{
if (!CheckCRC16(ModBus_para->m_receiveFrameBuffer, frameSize)) // 如果校验不通过, 不为超时或缓冲区满则返回继续接收
{
if (isTimeout || ModBus_para->m_receiveFrameBufferLen >= MODBUS_BUFFER_SIZE)
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
*restSize = ModBus_para->m_receiveFrameBufferLen - frameSize;// 待保留的数据长度
ModBus_para->m_receiveFrameBufferLen = frameSize;
}
else
{
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
}
ModBus_para->m_receiveFrameBufferLen--; // 去除校验码
ModBus_para->m_hasDetectedBufferStart = 0;
break;
}
default:
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
break;
}
return 1;
}
#ifdef MODBUS_MASTER
/** 读取寄存器 **/
/*** 参数 ***
** address: 寄存器首地址
** count: 读取寄存器个数
** GetReponseHandler: 读取结果回调函数, 传入参数(uint16_t* buff, uint16_t buffLen)
** 返回指令序号(大于0), 以便在回调函数中判断完成的是哪一指令, 不能发送返回0
***/
byte ModBus_getRegister(ModBus_parameter* ModBus_para, uint16_t address, uint16_t count, void(*GetReponseHandler)(uint16_t*, uint16_t))
{
MODBUS_FRAME_T* pFrame = addFrame(ModBus_para);
pFrame->type = READ_REGISTER;
pFrame->responseSize = 0;
pFrame->responseHandler = GetReponseHandler;
pFrame->address = address;
pFrame->count = count;
if (ModBus_para->m_modeType == ASCII)
{
pFrame->data[pFrame->size++] = ':';
}
pFrame->data[pFrame->size++] = ModBus_para->m_address; // 设备地址
pFrame->data[pFrame->size++] = READ_REGISTER; // 功能码, 读寄存器
pFrame->data[pFrame->size++] = (address >> 8) & 0x0FF; // 寄存器首地址高位
pFrame->data[pFrame->size++] = address & 0x0FF; // 寄存器首地址低位
pFrame->data[pFrame->size++] = (count >> 8) & 0x0FF; // 读寄存器个数高位
pFrame->data[pFrame->size++] = count & 0x0FF; // 读寄存器个数低位
switch (ModBus_para->m_modeType)
{
case ASCII:
pFrame->size = GenLRC(pFrame->data + 1, pFrame->size - 1) + 1; // 不包括起始字符
pFrame->size = bin2char_s(pFrame->data + 1, pFrame->size - 1, MODBUS_BUFFER_SIZE) + 1;
pFrame->data[pFrame->size++] = '\r'; // 结束字符
pFrame->data[pFrame->size++] = '\n'; // 结束字符
pFrame->responseSize = 11 + 4 * count; // 返回帧需要的字节数
break;
case RTU:
pFrame->size = GenCRC16(pFrame->data, pFrame->size);
pFrame->responseSize = 5 + 2 * count; // 返回帧需要的字节数
break;
default:
break;
}
return pFrame->index;
}
/** 写单个寄存器 **/
/*** 参数 ***
** address: 寄存器首地址
** data: 待写入数据
** SetReponseHandler: 写入结果回调函数, 传入参数(uint16_t address, uint16_t count), 参数包括首地址和寄存器个数
** 返回指令序号, 以便在回调函数中判断完成的是哪一指令
***/
byte ModBus_setRegister(ModBus_parameter* ModBus_para, uint16_t address, uint16_t data, void(*SetReponseHandler)(uint16_t, uint16_t))
{
MODBUS_FRAME_T* pFrame = addFrame(ModBus_para);
pFrame->type = WRITE_SINGLE_REGISTER;
pFrame->responseSize = 0;
pFrame->responseHandler = SetReponseHandler;
pFrame->address = address;
pFrame->count = 1;
if (ModBus_para->m_modeType == ASCII)
{
pFrame->data[pFrame->size++] = ':';
}
pFrame->data[pFrame->size++] = ModBus_para->m_address; // 设备地址
pFrame->data[pFrame->size++] = WRITE_SINGLE_REGISTER; // 功能码, 写入单寄存器
pFrame->data[pFrame->size++] = (address >> 8) & 0x0FF; // 寄存器首地址高位
pFrame->data[pFrame->size++] = address & 0x0FF; // 寄存器首地址低位
pFrame->data[pFrame->size++] = (data >> 8) & 0x0FF; // 数据高位
pFrame->data[pFrame->size++] = data & 0x0FF; // 数据低位
switch (ModBus_para->m_modeType)
{
case ASCII:
pFrame->size = GenLRC(pFrame->data + 1, pFrame->size - 1) + 1; // 不包括起始字符
pFrame->size = bin2char_s(pFrame->data + 1, pFrame->size - 1, MODBUS_BUFFER_SIZE) + 1;
pFrame->data[pFrame->size++] = '\r'; // 结束字符
pFrame->data[pFrame->size++] = '\n'; // 结束字符
pFrame->responseSize = 17; // 返回帧需要的字节数
break;
case RTU:
pFrame->size = GenCRC16(pFrame->data, pFrame->size);
pFrame->responseSize = 8; // 返回帧需要的字节数
break;
default:
break;
}
return pFrame->index;
}
/** 写多个寄存器 **/
/*** 参数 ***
** address: 寄存器首地址
** data: 待写入数据
** count: 待写入寄存器个数
** SetReponseHandler: 写入结果回调函数, 传入参数(uint16_t address, uint16_t count), 参数包括首地址和寄存器个数
** 返回0表示发送成功, 返回1表示忙未发送
***/
byte ModBus_setRegisters(ModBus_parameter* ModBus_para, uint16_t address, uint16_t* data, uint16_t count, void(*SetReponseHandler)(uint16_t, uint16_t))
{
MODBUS_FRAME_T* pFrame = addFrame(ModBus_para);
pFrame->type = WRITE_MULTI_REGISTER;
pFrame->responseSize = 0;
pFrame->responseHandler = SetReponseHandler;
pFrame->address = address;
pFrame->count = count;
if (ModBus_para->m_modeType == ASCII)
{
pFrame->data[pFrame->size++] = ':';
}
pFrame->data[pFrame->size++] = ModBus_para->m_address; // 设备地址
pFrame->data[pFrame->size++] = WRITE_MULTI_REGISTER; // 功能码, 写入多寄存器
pFrame->data[pFrame->size++] = (address >> 8) & 0x0FF; // 寄存器首地址高位
pFrame->data[pFrame->size++] = address & 0x0FF; // 寄存器首地址低位
pFrame->data[pFrame->size++] = (count >> 8) & 0x0FF; // 寄存器个数高位
pFrame->data[pFrame->size++] = count & 0x0FF; // 寄存器个数低位
switch (ModBus_para->m_modeType)
{
case ASCII:
pFrame->data[pFrame->size++] = count * 4; // 数据字节数
break;
case RTU:
pFrame->data[pFrame->size++] = count * 2; // 数据字节数
break;
default:
break;
}
if (count > ModBus_para->m_registerAcessLimit || pFrame->size + 2 * count + 2 > MODBUS_BUFFER_SIZE) // 如果超出最大数据量, 不发送, 立即调用回调函数
{
if (SetReponseHandler)
{
ModBus_para->m_sendFramesN--;
(*(SetReponseHandler))(address, 0);
}
return 0;
}
for (uint16_t i = 0; i < count; i++)
{
pFrame->data[pFrame->size++] = (data[i] >> 8) & 0x0FF; // 数据高位
pFrame->data[pFrame->size++] = data[i] & 0x0FF; // 数据低位
}
switch (ModBus_para->m_modeType)
{
case ASCII:
pFrame->size = GenLRC(pFrame->data + 1, pFrame->size - 1) + 1; // 不包括起始字符
pFrame->size = bin2char_s(pFrame->data + 1, pFrame->size - 1, MODBUS_BUFFER_SIZE) + 1;
pFrame->data[pFrame->size++] = '\r'; // 结束字符
pFrame->data[pFrame->size++] = '\n'; // 结束字符
pFrame->responseSize = 17; // 返回帧需要的字节数
break;
case RTU:
pFrame->size = GenCRC16(pFrame->data, pFrame->size);
pFrame->responseSize = 8; // 返回帧需要的字节数
break;
default:
break;
}
return pFrame->index;
}
// 接收数据结束, 处理数据, 存在有效数据返回1, 否则返回0
static byte ModBus_parseReveivedBuff(ModBus_parameter* ModBus_para)
{
size_t restSize;
MODBUS_FRAME_T* pFrame = NULL;
if (ModBus_para->m_sendFramesN > 0)
{
pFrame = ModBus_para->m_sendFrames;
}
else // 如果没有等待返回帧, 则不处理数据
{
ModBus_para->m_pBeginReceiveBufferTmp = ModBus_para->m_pEndReceiveBufferTmp;
ModBus_para->m_receiveFrameBufferLen = 0;
return 0;
}
if (!ModBus_detectFrame(ModBus_para, &restSize))
{
return 0;
}
MODBUS_DELAY_DEBUG(("Frame Delay %d\n", millis() - pFrame->time));
// 判断功能码
switch (ModBus_para->m_receiveFrameBuffer[1])
{
case READ_REGISTER:
{
u8 count = ModBus_para->m_receiveFrameBuffer[2];
MODBUS_DEBUG(("ModBus read reg response\n"));
if (count % 2 != 0 || pFrame->type != READ_REGISTER || count != pFrame->count * 2) // 数据异常
{
// 保留的未处理的数据
memcpy(ModBus_para->m_receiveFrameBuffer, ModBus_para->m_receiveFrameBuffer + ModBus_para->m_receiveFrameBufferLen, restSize);
ModBus_para->m_receiveFrameBufferLen = restSize;
return 0;
}
count >>= 1; // 除2
if (count > ModBus_para->m_registerAcessLimit)
{
count = ModBus_para->m_registerAcessLimit;
}
for (size_t i = 0; i < count; i++)
{
ModBus_para->m_registerData[i] = (((uint16_t)ModBus_para->m_receiveFrameBuffer[3 + (i << 1)]) << 8) + ModBus_para->m_receiveFrameBuffer[4 + (i << 1)];
}
ModBus_para->m_registerCount = count;
// 回调函数
if (pFrame->responseHandler)
{
(*(GetReponseHandler_T)(pFrame->responseHandler))(ModBus_para->m_registerData, count);
}
break;
}
case WRITE_SINGLE_REGISTER:
{
uint16_t address = (ModBus_para->m_receiveFrameBuffer[2] << 8) + ModBus_para->m_receiveFrameBuffer[3];
uint16_t data = (ModBus_para->m_receiveFrameBuffer[4] << 8) + ModBus_para->m_receiveFrameBuffer[5];
uint16_t dataSent;
MODBUS_DEBUG(("ModBus write 0x%04x %d response\n", address, data));
if (ModBus_para->m_modeType == ASCII)
{
byte data[4];
memcpy(data, pFrame->data + 9, 4);
char2bin(data, 4);
dataSent = ((uint16_t)data[0] << 8) + data[1];
}
else if (ModBus_para->m_modeType == RTU)
{
dataSent = (pFrame->data[4] << 8) + pFrame->data[5];
}
if (pFrame->type != WRITE_SINGLE_REGISTER || address != pFrame->address || dataSent != data) // 数据异常
{
// 保留的未处理的数据
memcpy(ModBus_para->m_receiveFrameBuffer, ModBus_para->m_receiveFrameBuffer + ModBus_para->m_receiveFrameBufferLen, restSize);
ModBus_para->m_receiveFrameBufferLen = restSize;
return 0;
}
// 回调函数
if (pFrame->responseHandler)
{
(*(SetReponseHandler_T)(pFrame->responseHandler))(address, 1);
}
break;
}
case WRITE_MULTI_REGISTER:
{
uint16_t address = (ModBus_para->m_receiveFrameBuffer[2] << 8) + ModBus_para->m_receiveFrameBuffer[3];
uint16_t count = (ModBus_para->m_receiveFrameBuffer[4] << 8) + ModBus_para->m_receiveFrameBuffer[5];
MODBUS_DEBUG(("ModBus write 0x%04x %d regs response\n", address, count));
if (pFrame->type != WRITE_MULTI_REGISTER || address != pFrame->address || count != pFrame->count) // 数据异常
{
// 保留的未处理的数据
memcpy(ModBus_para->m_receiveFrameBuffer, ModBus_para->m_receiveFrameBuffer + ModBus_para->m_receiveFrameBufferLen, restSize);
ModBus_para->m_receiveFrameBufferLen = restSize;
return 0;
}
// 回调函数
if (pFrame->responseHandler)
{
(*(SetReponseHandler_T)(pFrame->responseHandler))(address, count);
}
break;
}
default:
memcpy(ModBus_para->m_receiveFrameBuffer, ModBus_para->m_receiveFrameBuffer + ModBus_para->m_receiveFrameBufferLen, restSize);
ModBus_para->m_receiveFrameBufferLen = restSize;
return 0;
break;
}
memcpy(ModBus_para->m_receiveFrameBuffer, ModBus_para->m_receiveFrameBuffer + ModBus_para->m_receiveFrameBufferLen, restSize);
ModBus_para->m_receiveFrameBufferLen = restSize;
// 移除已返回指令
memcpy(ModBus_para->m_sendFrames, ModBus_para->m_sendFrames + 1, (--ModBus_para->m_sendFramesN) * sizeof(MODBUS_FRAME_T));
ModBus_para->m_waitingResponse = 0;
return 1;
}
static void sendFrame_loop(ModBus_parameter* ModBus_para)
{
u32 now = millis();
if (ModBus_para->m_waitingResponse && now - ModBus_para->m_lastSentTime < ModBus_para->m_sendTimeout || ModBus_para->m_sendFramesN == 0) // 等待返回帧未超时, 或没有待发送数据
{
return;
}
if (ModBus_para->m_waitingResponse && now - ModBus_para->m_lastSentTime >= ModBus_para->m_sendTimeout) // 等待返回帧超时
{
MODBUS_FRAME_T* pFrame = ModBus_para->m_sendFrames;
MODBUS_DELAY_DEBUG(("Frame Timeout %d\n", millis() - pFrame->time));
if (pFrame->responseHandler) // 调用回调, 传入参数(0,0)
{
switch (pFrame->type)
{
case READ_REGISTER:
(*(GetReponseHandler_T)(pFrame->responseHandler))(0, 0);
break;
case WRITE_SINGLE_REGISTER:
(*(SetReponseHandler_T)(pFrame->responseHandler))(0, 0);
break;
case WRITE_MULTI_REGISTER:
(*(SetReponseHandler_T)(pFrame->responseHandler))(0, 0);
break;
default:
break;
}
}
memcpy(ModBus_para->m_sendFrames, ModBus_para->m_sendFrames + 1, (--ModBus_para->m_sendFramesN) * sizeof(MODBUS_FRAME_T)); // 移除已发送数据包
ModBus_para->m_waitingResponse = 0;
}
if (!ModBus_para->m_waitingResponse && ModBus_para->m_sendFramesN > 0) // 不在等待返回帧且有待发送数据包, 则发送
{
MODBUS_FRAME_T* pFrame = ModBus_para->m_sendFrames;
if (ModBus_para->m_faston) // 如果是快速模式, 则只执行最新的指令
{
ModBus_para->m_sendFrames[0] = ModBus_para->m_sendFrames[ModBus_para->m_sendFramesN - 1];
ModBus_para->m_sendFramesN = 1;
}
if (ModBus_para->m_SendHandler != NULL)
{
(*ModBus_para->m_SendHandler)(pFrame->data, pFrame->size);
ModBus_para->m_waitingResponse = 1;
ModBus_para->m_lastSentTime = millis();
}
}
}
void ModBus_Master_loop(ModBus_parameter* ModBus_para)
{
u32 now = millis();
if (ModBus_para->m_pBeginReceiveBufferTmp != ModBus_para->m_pEndReceiveBufferTmp)
{
ModBus_parseReveivedBuff(ModBus_para); // 处理接收到的数据
}
if (now - ModBus_para->m_lastReceivedTime > ModBus_para->m_receiveTimeout) // 接收超时, 处理数据并重置
{
ModBus_parseReveivedBuff(ModBus_para); // 处理接收到的数据
ModBus_para->m_receiveFrameBufferLen = 0;
ModBus_para->m_lastReceivedTime = millis();
}
sendFrame_loop(ModBus_para);
}
#endif
#ifdef MODBUS_SLAVE
void ModBus_attachRegisterHandler(ModBus_parameter* ModBus_para, size_t(*GetRegisterHandler)(uint16_t, uint16_t, uint16_t*), size_t(*SetRegisterHandler)(uint16_t, uint16_t, uint16_t*))
{
ModBus_para->m_GetRegisterHandler = GetRegisterHandler;
ModBus_para->m_SetRegisterHandler = SetRegisterHandler;
}
/** 读取寄存器返回帧 **/
/*** 参数 ***
** address: 寄存器首地址
** count: 读取寄存器个数
** GetReponseHandler: 读取结果回调函数, 传入参数(uint16_t* buff, uint16_t buffLen)
***/
static void ModBus_getRegister_Slave(ModBus_parameter* ModBus_para, uint16_t address, uint8_t count)
{
ModBus_para->m_sendFrameBufferLen = 0;
if (ModBus_para->m_modeType == ASCII)
{
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = ':';
}
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = ModBus_para->m_address; // 设备地址
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = READ_REGISTER; // 功能码, 读寄存器
if (count > ModBus_para->m_registerAcessLimit || ModBus_para->m_sendFrameBufferLen + 2 * count + 3 > MODBUS_BUFFER_SIZE) // 如果超出最大数据量
{
count = 0;
}
count = (uint8_t)(*(ModBus_para->m_GetRegisterHandler))(address, count, ModBus_para->m_registerData);
ModBus_para->m_registerCount = count;
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = count * 2; // 字节数 = 读寄存器个数 * 2
for (uint16_t i = 0; i < count; i++)
{
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = (ModBus_para->m_registerData[i] >> 8) & 0x0FF; // 数据高位
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = ModBus_para->m_registerData[i] & 0x0FF; // 数据低位
}
switch (ModBus_para->m_modeType)
{
case ASCII:
ModBus_para->m_sendFrameBufferLen = GenLRC(ModBus_para->m_sendFrameBuffer + 1, ModBus_para->m_sendFrameBufferLen - 1) + 1; // 不包括起始字符
ModBus_para->m_sendFrameBufferLen = bin2char_s(ModBus_para->m_sendFrameBuffer + 1, ModBus_para->m_sendFrameBufferLen - 1, MODBUS_BUFFER_SIZE) + 1;
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = '\r'; // 结束字符
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = '\n'; // 结束字符
break;
case RTU:
ModBus_para->m_sendFrameBufferLen = GenCRC16(ModBus_para->m_sendFrameBuffer, ModBus_para->m_sendFrameBufferLen);
break;
default:
break;
}
if (ModBus_para->m_SendHandler != NULL && ModBus_para->m_sendFrameBufferLen > 0)
{
(*ModBus_para->m_SendHandler)(ModBus_para->m_sendFrameBuffer, ModBus_para->m_sendFrameBufferLen);
ModBus_para->m_lastSentTime = millis();
}
}
/** 写单个寄存器返回帧 **/
/*** 参数 ***
** address: 寄存器首地址
** data: 待写入数据
** SetReponseHandler: 写入结果回调函数, 传入参数(uint16_t address, uint16_t count), 参数包括首地址和寄存器个数
***/
static void ModBus_setRegister_Slave(ModBus_parameter* ModBus_para, uint16_t address, uint16_t data)
{
ModBus_para->m_sendFrameBufferLen = 0;
if (ModBus_para->m_modeType == ASCII)
{
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = ':';
}
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = ModBus_para->m_address; // 设备地址
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = WRITE_SINGLE_REGISTER; // 功能码, 读寄存器
if ((*(ModBus_para->m_SetRegisterHandler))(address, 1, &data) == 0) // 如果写入错误, 数据取反后返回, 以便主机判断
{
data = ~data;
}
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = (address >> 8) & 0x0FF; // 寄存器首地址高位
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = address & 0x0FF; // 寄存器首地址低位
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = (data >> 8) & 0x0FF; // 数据高位
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = data & 0x0FF; // 数据低位
switch (ModBus_para->m_modeType)
{
case ASCII:
ModBus_para->m_sendFrameBufferLen = GenLRC(ModBus_para->m_sendFrameBuffer + 1, ModBus_para->m_sendFrameBufferLen - 1) + 1; // 不包括起始字符
ModBus_para->m_sendFrameBufferLen = bin2char_s(ModBus_para->m_sendFrameBuffer + 1, ModBus_para->m_sendFrameBufferLen - 1, MODBUS_BUFFER_SIZE) + 1;
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = '\r'; // 结束字符
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = '\n'; // 结束字符
break;
case RTU:
ModBus_para->m_sendFrameBufferLen = GenCRC16(ModBus_para->m_sendFrameBuffer, ModBus_para->m_sendFrameBufferLen);
break;
default:
break;
}
if (ModBus_para->m_SendHandler != NULL && ModBus_para->m_sendFrameBufferLen > 0)
{
(*ModBus_para->m_SendHandler)(ModBus_para->m_sendFrameBuffer, ModBus_para->m_sendFrameBufferLen);
ModBus_para->m_lastSentTime = millis();
}
}
/** 写多个寄存器返回帧 **/
/*** 参数 ***
** address: 寄存器首地址
** data: 待写入数据
** count: 待写入寄存器个数
** SetReponseHandler: 写入结果回调函数, 传入参数(uint16_t address, uint16_t count), 参数包括首地址和寄存器个数
***/
static void ModBus_setRegisters_Slave(ModBus_parameter* ModBus_para, uint16_t address, uint16_t* data, uint16_t count)
{
ModBus_para->m_sendFrameBufferLen = 0;
if (ModBus_para->m_modeType == ASCII)
{
ModBus_para->m_sendFrameBuffer[ModBus_para->m_sendFrameBufferLen++] = ':';