382 lines
9.5 KiB
C
382 lines
9.5 KiB
C
#include "includes.h"
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// 任务主体
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void Modbus_Task(uint8_t c);
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// modbus通讯处理
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#pragma pack(push, 1)
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typedef struct
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{
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uint8_t id; // 通信地址
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uint8_t cmd; // 功能码
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uint16_t reg; // 寄存器地址
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union
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{
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uint16_t cnt; // 读取：寄存器数量
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uint16_t data; // 写入：寄存器数据
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};
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uint16_t crc;
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} modbus_request_t;
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#pragma pack(pop)
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// modbus rtu 数据缓冲区
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#define MODBUS_1ST_REG (30001) // 第1个数据地址
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#define MODBUS_LAST_REG (30016) // 最后一个数据地址
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#define MODBUS_ADR_REG (40001) // 通信地址的数据地址
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// modbus rtu错误代码
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#define MODBUS_ERR_ILF (0x01) // 无效功能码
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#define MODBUS_ERR_ILA (0x02) // 无效通讯地址
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#define MODBUS_ERR_ILD (0x03) // 无效数据值
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#define MODBUS_ERR_FID (0x04) // 执行失败
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#define MODBUS_ERR_ACK (0x05) // ACK（命令已接受并在处理中）
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#define MODBUS_ERR_BUSY (0x06) // 设备忙，拒绝
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#define MODBUS_ERR_NAK (0x07) // NAK（命令无法执行）
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// modbus rtu 数据缓冲区
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uint8_t MODBUS_RTU_Buf[(MODBUS_LAST_REG - MODBUS_1ST_REG + 1) * 2];
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void Slave_IRQHandler(USART_Handle *huart)
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{
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uint8_t u8DTU = (uint8_t) huart->Instance->RDR;
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/* Handle received data */
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Modbus_Task(u8DTU);
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}
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void Slave_Init()
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{
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LL_GPIO_InitTypeDef GPIO_InitStruct = {0};
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LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_GPIOA);
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LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_GPIOC);
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/**USART3 GPIO Configuration
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PC10 ------> USART3_TX
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PC11 ------> USART3_RX
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PA15 ------> USART3_DE
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*/
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GPIO_InitStruct.Pin = LL_GPIO_PIN_10|LL_GPIO_PIN_11;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_MEDIUM;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
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GPIO_InitStruct.Alternate = LL_GPIO_AF_7;
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LL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = LL_GPIO_PIN_15;
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GPIO_InitStruct.Mode = LL_GPIO_MODE_ALTERNATE;
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GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_MEDIUM;
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GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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GPIO_InitStruct.Pull = LL_GPIO_PULL_NO;
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GPIO_InitStruct.Alternate = LL_GPIO_AF_7;
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LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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}
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/*---------------------------------------------------------------------------------------------------------*/
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/* RS485 Transmit Control (Address Byte: Parity Bit =1 , Data Byte:Parity Bit =0) */
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/*---------------------------------------------------------------------------------------------------------*/
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static void RS485_SendDataByte(uint8_t *pu8TxBuf, uint32_t u32WriteBytes)
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{
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/* Set UART parity as SPACE and skip baud rate setting */
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// UART_SetLine_Config(UART1, 0, UART_WORD_LEN_8, UART_PARITY_SPACE, UART_STOP_BIT_1);
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/* Send data */
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UART_Transmit_IT(&huart3, pu8TxBuf, u32WriteBytes);
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}
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void Slave_Open()
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{
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LL_USART_InitTypeDef USART_InitStruct = {0};
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huart3.RxISR = Slave_IRQHandler;
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/* Peripheral clock enable */
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LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART3);
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/* USART3 interrupt Init */
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NVIC_SetPriority(USART3_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),5, 0));
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NVIC_EnableIRQ(USART3_IRQn);
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/* USER CODE BEGIN USART3_Init 1 */
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/* USER CODE END USART3_Init 1 */
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USART_InitStruct.BaudRate = 9600;
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USART_InitStruct.DataWidth = LL_USART_DATAWIDTH_8B;
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USART_InitStruct.StopBits = LL_USART_STOPBITS_1;
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USART_InitStruct.Parity = LL_USART_PARITY_NONE;
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USART_InitStruct.TransferDirection = LL_USART_DIRECTION_TX_RX;
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USART_InitStruct.HardwareFlowControl = LL_USART_HWCONTROL_NONE;
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USART_InitStruct.OverSampling = LL_USART_OVERSAMPLING_16;
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LL_USART_Init(USART3, &USART_InitStruct);
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LL_USART_EnableDEMode(USART3);
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LL_USART_SetDESignalPolarity(USART3, LL_USART_DE_POLARITY_HIGH);
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LL_USART_SetDEAssertionTime(USART3, 0);
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LL_USART_SetDEDeassertionTime(USART3, 0);
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LL_USART_ConfigAsyncMode(USART3);
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SET_BIT(USART3->CR1, USART_CR1_PEIE | USART_CR1_RXNEIE);
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LL_USART_Enable(USART3);
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}
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uint32_t Fill_MODBUS_RTU_Buf()
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{
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uint8_t len = 0; // 发送数据长度
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uint16_t val = 0;
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uint32_t val32 = 0;
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// 检查数据是否准备好
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if(dcBuff.sampleData.volumeTotal == 0)
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return 0;
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// 连接状态
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if(dcBuff.sampleData.staPress.notConnect)
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val |= (1 << 0);
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if(dcBuff.sampleData.staExtTempr[0].notConnect)
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val |= (1 << 2);
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if(dcBuff.sampleData.staDPress.notConnect)
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val |= (1 << 4);
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// 液位传感器类型
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if(dcBuff.configDisplay.op_USE_CAPACITY_SENSOR)
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val |= (1 << 6);
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// 测量值状态
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if(dcBuff.sampleData.staPress.underFlow)
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val |= (1 << 8);
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else if(dcBuff.sampleData.staPress.overFlow)
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val |= (2 << 8);
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if(dcBuff.sampleData.staExtTempr[0].underFlow)
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val |= (1 << 10);
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else if(dcBuff.sampleData.staExtTempr[0].overFlow)
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val |= (2 << 10);
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if(dcBuff.sampleData.staDPress.underFlow)
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val |= (1 << 12);
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else if(dcBuff.sampleData.staDPress.overFlow)
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val |= (2 << 12);
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 差压
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val = (uint16_t) dcBuff.sampleData.diff;
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 容积百分比
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val = (uint16_t) dcBuff.sampleData.volumePct;
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 体积
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val32 = dcBuff.sampleData.volume;
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val32 = htonl(val32);
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memmove(MODBUS_RTU_Buf + len, &val32, 4);
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len += 4;
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// 重量
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val32 = dcBuff.sampleData.weight;
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val32 = htonl(val32);
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memmove(MODBUS_RTU_Buf + len, &val32, 4);
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len += 4;
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// 高度：mmWC 或 mm
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if(!dcBuff.configDisplay.op_USE_CAPACITY_SENSOR && !dcBuff.configDisplay.op_USE_HEIGHT_LEVEL && !dcBuff.configDisplay.op_USE_PCT_LEVEL)
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val = (uint16_t) KPa2mmH2O(dcBuff.sampleData.diff);
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else
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val = (uint16_t) dcBuff.sampleData.height;
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 压力
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val = (uint16_t) dcBuff.sampleData.pressure;
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 温度: 有符号数
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memmove(&val, &dcBuff.sampleData.extTempr[0], 2);
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 介质
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val = (uint16_t) dcBuff.configBottle.source;
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 总有效容积
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val32 = dcBuff.sampleData.volumeTotal;
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val32 = htonl(val32);
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memmove(MODBUS_RTU_Buf + len, &val32, 4);
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len += 4;
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// 真空计状态
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val = 0;
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if(dcBuff.sampleData.vacuum[0].staVacuum == VACUUM_STATUS_COMM_FAULT)
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val |= 1;
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else
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{
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if(dcBuff.sampleData.vacuum[0].staVacuum == VACUUM_STATUS_FAULT)
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val |= (3 << 2);
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else if(dcBuff.sampleData.vacuum[0].vacuum > 99.99999999)
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val |= (2 << 2);
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else if(dcBuff.sampleData.vacuum[0].vacuum <= 0.00999999)
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val |= (1 << 2);
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}
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 真空度
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val = dcBuff.sampleData.vacuum[0].vacuum * 100;
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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// 真空计温度
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val = (int16_t) dcBuff.sampleData.vacuum[0].tempr;
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val = htons(val);
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memmove(MODBUS_RTU_Buf + len, &val, 2);
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len += 2;
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return 1;
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}
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// 处理modbus rtu命令（已经验证过长度和CRC的包）
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void MODBUS_RTU_CMD(modbus_request_t *req)
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{
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static uint8_t BUFF[(MODBUS_LAST_REG - MODBUS_1ST_REG + 1) * 2 + 6]; // 响应包
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uint8_t err = 0; // 错误代码
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uint8_t len = 0; // 发送数据长度
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uint16_t id; // 通信地址
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uint16_t reg; // 数据地址
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uint16_t cnt; // 数据个数
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uint16_t crc;
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// 检查通信地址
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if(req->id != dcBuff.configBottle.addr && req->id != 0)
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return;
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// 清空发送帧
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memset(BUFF, 0, sizeof(BUFF));
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BUFF[len++] = dcBuff.configBottle.addr; // 从机地址
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BUFF[len++] = req->cmd; // 命令代码
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reg = ntohs(req->reg); // 数据寄存器
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if(req->cmd == 0x03 || req->cmd == 0x06)
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reg += 40001;
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else if(req->cmd == 0x04)
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reg += 30001;
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else
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err = MODBUS_ERR_ILF; // 无效功能码
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if(err == 0)
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{
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if(req->cmd == 0x03) // 读保持数据
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{
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cnt = ntohs(req->cnt); // 参数个数
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if(reg != MODBUS_ADR_REG || cnt != 1)
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err = MODBUS_ERR_NAK; // 命令无法执行
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else
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{
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// 用最新的通讯地址刷新缓冲
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id = htons(dcBuff.configBottle.addr);
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BUFF[len++] = 2; // 数据长度
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memmove(BUFF + len, (uint8_t *) &id, 2);
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len += 2;
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}
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}
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else if(req->cmd == 0x06) // 设置数据
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{
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if(reg != MODBUS_ADR_REG)
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err = MODBUS_ERR_NAK; // 命令无法执行
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else
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{
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id = ntohs(req->data);
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if(id < 1 || id > 247)
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err = MODBUS_ERR_ILD; // 无效数据值
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else
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{
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// 设置地址并保存
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dcBuff.configBottle.addr = id;
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Config_SaveConfig();
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BUFF[0] = id; // 新地址
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memmove(BUFF + len, &req->reg, 4); // 数据地址和通讯地址
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len += 4;
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}
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}
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}
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else if(req->cmd == 0x04) // 读输入数据
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{
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cnt = ntohs(req->cnt); // 参数个数
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if(reg < MODBUS_1ST_REG || reg > MODBUS_LAST_REG || cnt < 1 || reg + (cnt - 1) > MODBUS_LAST_REG)
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err = MODBUS_ERR_NAK; // 命令无法执行
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else
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{
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// 用最新的采集数据刷新缓冲
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if(!Fill_MODBUS_RTU_Buf())
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return;
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BUFF[len++] = cnt * 2; // 数据长度
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memmove(BUFF + len, MODBUS_RTU_Buf + (reg - MODBUS_1ST_REG) * 2, cnt * 2);
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len += cnt * 2;
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}
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}
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}
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if(err != 0)
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{
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BUFF[1] |= 0x80; // 错误指示
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BUFF[len++] = err; // 错误代码
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}
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// 计算CRC
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crc = MODBUS_RTU_CRC16(BUFF, len);
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crc = htons(crc);
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memmove(BUFF + len, &crc, 2);
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len += 2;
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if(req->id != 0)
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{
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// 发送应答
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RS485_SendDataByte(BUFF, len);
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}
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}
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// 任务主体
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void Modbus_Task(uint8_t c)
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{
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static uint8_t BUFF[sizeof(modbus_request_t)] = {0};
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static uint8_t len = 0;
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// 取数据
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BUFF[len++] = c;
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// 验证长度和CRC值
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if(len == sizeof(modbus_request_t))
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{
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if(MODBUS_RTU_CRC16(BUFF, sizeof(modbus_request_t)) == 0)
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{
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MODBUS_RTU_CMD((modbus_request_t *) BUFF);
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len = 0;
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}
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else
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{
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// 丢掉第一个字节
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memmove(BUFF, BUFF + 1, --len);
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}
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}
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}
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