MODBUS移植完成

zhyinch

2019-11-07 92d139e68796bf902f9e387e6416ced78ad0f44c

MODBUS移植完成

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Usart.c

@@ -1,6 +1,8 @@
#include "Usart.h"
#include <string.h>
#include <stdio.h>
#include "modbus.h"
#include "Rcc_Nvic_Systick.h"

//数据发送队列变量
EUART_Frame m_EUART_TxFrames[EUART_TX_FRM_SIZE];    //数据发送帧队列    
@@ -10,6 +12,8 @@
//DMA数据接收缓存
uint8_t m_EUART_DMA_RXBuf[EUART_RX_BUF_SIZE];            //DMA数据接收缓存
volatile int32_t m_EUART_DMA_RXPtr = 0;                    //当前数据地址
u16 DMA_rxtemp = 0;                                                            //当前数据地址缓存
u16 datadelaycount = 0;                                                    //剩余1位数据延时等待处理
//标志变量
volatile uint8_t m_bEUARTPushingFrms = 0;                //正在往发送队列存数据
volatile uint8_t m_bEUARTCheckingSend = 0;                //正在确认数据发送
@@ -125,7 +129,10 @@
{
    int32_t DMACnt = 0;
    int32_t MaxDataLen = EUART_RX_BUF_SIZE;    
	
    u8 rxbuf_len = 0;
    u8 buftemp1 = 0;
    u8 buftemp2 = 0;
    u8 i = 0;
    //如果正在往发送队列中添加数据，退出
    if(m_bEUARTPushingFrms)
        return;
@@ -138,11 +145,79 @@
        m_bEUARTCheckingRec = 0;
        return;
    }
    DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
	
    DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);//DMACnt是DMA通道接收到数据总长度,CNDTR是dma剩余未使用数量
	
    if(DMACnt!=m_EUART_DMA_RXPtr)
    {
        //DMA有未处理数据
        DMA_rxtemp=m_EUART_DMA_RXPtr;
        DMA_rxtemp++;
        if( DMA_rxtemp >= EUART_RX_BUF_SIZE )
        {
            DMA_rxtemp = 0;
        }
        DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);//DMACnt是DMA通道接收到数据总长度,CNDTR是dma剩余未使用数量
        if(DMACnt!=DMA_rxtemp)
        {
            //DMA有超过2位数据未处理
            DMA_rxtemp = 0;//清空数组指针
            datadelaycount = 0;//等待次数清零
            buftemp1 = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr];
            buftemp2 = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr+1];
            if((buftemp1==0x55)&&(buftemp2==0xAA)&&(cmd_mode==0))
            {
                //私有协议
                cmd_mode = 1;
            }
            else if((buftemp1==RS485_Addr)&&(cmd_mode==0))
            {
                if((buftemp2==03)||(buftemp2==06)||(buftemp2==16))//功能码正确
                {
                    //modubs协议
                    cmd_mode=2;
                }
                else
                {
                    m_EUART_DMA_RXPtr+=2;
                    if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
                    {
                        m_EUART_DMA_RXPtr = 0;
                    }					
                }
            }
            else
            {
                //无效码，干扰码
                if(cmd_mode==0)
                {
                        m_EUART_DMA_RXPtr+=2;
                        if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
                        {
                            m_EUART_DMA_RXPtr = 0;
                        }
                 }
             }			
        }
        else
        {
            //只有1位数据未处理
                if(++datadelaycount > WAITDELAYCOUNT)
                {    //超出等待次数
                    datadelaycount = 0;
                    m_EUART_DMA_RXPtr++;
                    if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
                    {
                        m_EUART_DMA_RXPtr = 0;
                    }					
                }
        }
        if(cmd_mode==1)
        {
            //私有协议
    while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
    {
        Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]);
        delay_us(10);
        m_EUART_DMA_RXPtr++;
        if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
        {
@@ -151,9 +226,35 @@
        DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
        MaxDataLen--;
    }
    m_bEUARTCheckingRec = 0;	
        }		
        else if(cmd_mode==2)
        {
            //modbus协议
            delay_ms(1);//等待数据接收完成
            DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);		
            while(m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
            {
                RS485_RX_BUFF[i] = m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr];
                m_EUART_DMA_RXPtr++;
                if(++i >= EUART_RX_BUF_SIZE)i = 0;
                if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
                {
                    m_EUART_DMA_RXPtr = 0;
                }
                DMACnt = EUART_RX_BUF_SIZE - (EUART_RX_DMA_CH->CNDTR);
                MaxDataLen--;	
            }
//            m_EUART_DMA_RXPtr++;//数据指向下一位
//            if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
//            {
//                m_EUART_DMA_RXPtr = 0;
//            }
                RS485_Service();				
            }				
}

    m_bEUARTCheckingRec = 0;
}

#ifndef EXUART_USE_TXDMA                            
//查询方式发送数据

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -27,7 +27,7 @@
#include "filters.h"
#include <stdio.h>
#include "beep.h"

#include "modbus.h"

/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
@@ -380,7 +380,7 @@
            poll_tx_ts = get_tx_timestamp_u64();                                        //获得POLL发送时间T1
            resp_rx_ts = get_rx_timestamp_u64();                                        //获得RESPONSE接收时间T4
            
            if(getsync_flag==0)
            if(getsync_flag==0&&g_com_map[DEV_ROLE])
            {
                getsync_flag=1;
            memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
@@ -433,6 +433,7 @@
                    memcpy(&usart_send[19],&checksum,2);
                    UART_PushFrame(usart_send,21);

                    memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
            /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
            if(result==0)
            {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
@@ -627,6 +628,8 @@
                    memcpy(&usart_send[19],&checksum,2);
                    UART_PushFrame(usart_send,21);

                    memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);

                    
                    //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);


 Ô´Âë/ºËÐÄ°å/Src/application/global_param.h

@@ -15,7 +15,7 @@
#define     MIN_REPORT_ANC_NUM        0x5        //单次通讯基站下限
#define     DIST_OFFSET                        0x6    
#define     DEV_ROLE                            0x7        //该设备是anchor还是tag    
#define     ANC_POLL                            0x8        //该设备是anchor还是tag	
#define     ANC_POLL                            0x8        //基站主动测距

#define     ALARM_DEV                        0x9        //是哪个设备报警
#define        ALARM_DISTANCE1            0xA        //小于多少距离报警

 Ô´Âë/ºËÐÄ°å/Src/application/modbus.c

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,585 @@
#include "modbus.h"
#include "Rcc_Nvic_Systick.h"
///////////////////////////////////////////////////////////
//u32 RS485_Baudrate=9600;//通讯波特率
//u8 RS485_Parity=0;//0无校验；1奇校验；2偶校验
u8 RS485_Addr=1;//从机地址
//u16 RS485_Frame_Distance=4;//数据帧最小间隔（ms),超过此时间则认为是下一帧

u8 cmd_mode = 0;

u8 RS485_RX_BUFF[200];//接收缓冲区200字节
u16 RS485_RX_CNT=0;//接收计数器
//u8 RS485_FrameFlag=0;//帧结束标记
u8 RS485_TX_BUFF[200];//发送缓冲区
u16 RS485_TX_CNT=0;//发送计数器

//u8 DATA_RX_BUFF[2048];//接收缓存；
////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Modbus寄存器和单片机寄存器的映射关系
vu32 *Modbus_InputIO[100];//输入开关量寄存器指针(这里使用的是位带操作)
vu32 *Modbus_OutputIO[100];//输出开关量寄存器指针(这里使用的是位带操作)
u16 Modbus_HoldReg[MODBUS_SIZE];//保持寄存器指针
u32 testData1=1201,testData2=1002,testData3=2303,testData4=8204;
void Modbus_RegMap(void)
{
    u16 i;
    for(i=0;i<MODBUS_SIZE;i++)
    {
        Modbus_HoldReg[i]=i;
    }
        //输入开关量寄存器指针指向
//        Modbus_InputIO[0]=(vu32*)&PEin(4);//KEY0     //&PEin(4)：取PE4的地址，(vu32*)&PEin(4)将PE4地址强制转换为uw32类型的地址，Modbus_InputIO[0]=(vu32*)&PEin(4); å°†è½¬æ¢å¥½çš„地址送给地址指针Modbus_InputIO[0]；
//        Modbus_InputIO[1]=(vu32*)&PEin(3);//KEY1     //*Modbus_InputIO[0] å–出地址中的内容。
//        Modbus_InputIO[2]=(vu32*)&PEin(2);//KEY2
//        Modbus_InputIO[3]=(vu32*)&PAin(0);//KEY3
        
        //输出开关量寄存器指针指向
//        Modbus_OutputIO[0]=(vu32*)&PBout(5);//LED0
//        Modbus_OutputIO[1]=(vu32*)&PEout(5);//LED1
        
        //保持寄存器指针指向
//        Modbus_HoldReg[0]=(u16*)&testData1;//测试数据1 
//        Modbus_HoldReg[1]=(u16*)&testData2;//((u16*)&testData1)+1;//测试数据1 
//        Modbus_HoldReg[2]=(u16*)&testData3;//(u16*)&testData2;//测试数据2
//        Modbus_HoldReg[3]=(u16*)&testData4;//((u16*)&testData2)+1;//测试数据2 
//        Modbus_HoldReg[4]=(u16*)&testData1;
//                Modbus_HoldReg[5]=(u16*)&testData2;
//                Modbus_HoldReg[6]=(u16*)&testData3;
	
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

//CRC校验 è‡ªå·±åŽé¢æ·»åŠ çš„

const u8 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} ; 


const u8 auchCRCLo[] = { 
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} ;


u16 CRC_Compute(u8 *puchMsg, u16 usDataLen) 
{ 
    u8 uchCRCHi = 0xFF ; 
    u8 uchCRCLo = 0xFF ; 
    u32 uIndex ; 
    while (usDataLen--) 
    { 
        uIndex = uchCRCHi ^ *puchMsg++ ; 
        uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex] ; 
        uchCRCLo = auchCRCLo[uIndex] ; 
    } 
    return ((uchCRCHi<< 8)  | (uchCRCLo)) ; 
}//uint16 crc16(uint8 *puchMsg, uint16 usDataLen)
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

//初始化USART2
void RS485_Init(void)
{
        GPIO_InitTypeDef GPIO_InitStructure;
//        USART_InitTypeDef USART_InitStructure;
//        NVIC_InitTypeDef NVIC_InitStructure;
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB,ENABLE);
//        RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);
        
//        GPIO_InitStructure.GPIO_Pin=GPIO_Pin_2;//PA2（TX）复用推挽输出
//        GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF_PP;
        GPIO_InitStructure.GPIO_Speed=GPIO_Speed_50MHz;
//        GPIO_Init(GPIOA,&GPIO_InitStructure);
//        GPIO_SetBits(GPIOA,GPIO_Pin_2);//默认高电平
//        
//        GPIO_InitStructure.GPIO_Pin=GPIO_Pin_3;//PA3（RX）输入上拉
//        GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IN_FLOATING;   //修改原GPIO_Mode_IPU（输入上拉）->GPIO_Mode_IN_FLOATING(浮空输入)/////////////////////////////////////////////
//        GPIO_Init(GPIOA,&GPIO_InitStructure);
        
        GPIO_InitStructure.GPIO_Pin=RS485_TX_PIN;//修改PG9（RE/DE）通用推挽输出->PB7（RE/DE）通用推挽输出//////////////////////////////////////////////////////////////////////
        GPIO_InitStructure.GPIO_Mode=GPIO_Mode_Out_PP;
        GPIO_Init(RS485_TX_GPIO,&GPIO_InitStructure);
        GPIO_ResetBits(RS485_TX_GPIO,RS485_TX_PIN);//默认接收状态
        
//        USART_DeInit(USART2);//复位串口2
//        USART_InitStructure.USART_BaudRate=RS485_Baudrate;
//        USART_InitStructure.USART_HardwareFlowControl=USART_HardwareFlowControl_None;
//        USART_InitStructure.USART_WordLength=USART_WordLength_8b;
//        USART_InitStructure.USART_StopBits=USART_StopBits_1;
//        USART_InitStructure.USART_Mode=USART_Mode_Rx|USART_Mode_Tx;//收发模式
//        switch(RS485_Parity)
//        {
//                case 0:USART_InitStructure.USART_Parity=USART_Parity_No;break;//无校验
//                case 1:USART_InitStructure.USART_Parity=USART_Parity_Odd;break;//奇校验
//                case 2:USART_InitStructure.USART_Parity=USART_Parity_Even;break;//偶校验
//        }
//        USART_Init(USART2,&USART_InitStructure);
//        
//        USART_ClearITPendingBit(USART2,USART_IT_RXNE);
//        USART_ITConfig(USART2,USART_IT_RXNE,ENABLE);//使能串口2接收中断
//        
//        NVIC_InitStructure.NVIC_IRQChannel=USART2_IRQn;
//        NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;
//        NVIC_InitStructure.NVIC_IRQChannelSubPriority=2;
//        NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;
//        NVIC_Init(&NVIC_InitStructure);
//        
//        USART_Cmd(USART2,ENABLE);//使能串口2
//        RS485_TX_OFF;//默认为接收模式
        
//        Timer7_Init();//定时器7初始化，用于监视空闲时间
        Modbus_RegMap();//Modbus寄存器映射
}

//定时器7初始化
//void Timer7_Init(void)
//{
//        TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
//        NVIC_InitTypeDef NVIC_InitStructure;

//        RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE); //TIM7时钟使能 

//        //TIM7初始化设置
//        TIM_TimeBaseStructure.TIM_Period = RS485_Frame_Distance*10; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值
//        TIM_TimeBaseStructure.TIM_Prescaler =7200; //设置用来作为TIMx时钟频率除数的预分频值 è®¾ç½®è®¡æ•°é¢‘率为10kHz
//        TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
//        TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
//        TIM_TimeBaseInit(TIM7, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位

//        TIM_ITConfig( TIM7, TIM_IT_Update, ENABLE );//TIM7 å…è®¸æ›´æ–°ä¸­æ–­

//        //TIM7中断分组配置
//        NVIC_InitStructure.NVIC_IRQChannel =TIM7_IRQn;  //TIM7中断
//        NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;  //先占优先级2级
//        NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  //从优先级3级
//        NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能
//        NVIC_Init(&NVIC_InitStructure);  //根据NVIC_InitStruct中指定的参数初始化外设NVIC寄存器                                                                  
//}



//////////////////////////////////////////////////////////////////////////////
//发送n个字节数据
//buff:发送区首地址
//len：发送的字节数
void RS485_SendData(u8 *buff,u8 len)
{ 
        RS485_TX_ON;//切换为发送模式
                delay_us(100);
        while(len--)
        {
                while(USART_GetFlagStatus(USART1,USART_FLAG_TXE)==RESET);//等待发送区为空
                USART_SendData(USART1,*(buff++));
        }
        while(USART_GetFlagStatus(USART1,USART_FLAG_TC)==RESET);//等待发送完成
                RS485_TX_OFF;//开启接收模式
                delay_us(100);
}


/////////////////////////////////////////////////////////////////////////////////////
//void USART2_IRQHandler(void)//串口2中断服务程序
//{
//	   
//        u8 res;
//        u8 err;
//	 
//        if(USART_GetITStatus(USART2,USART_IT_RXNE)!=RESET)
//        {
//                if(USART_GetFlagStatus(USART2,USART_FLAG_NE|USART_FLAG_FE|USART_FLAG_PE)) err=1;//检测到噪音、帧错误或校验错误
//                else err=0;
//                //LED0=0;
//                res=USART_ReceiveData(USART2); //读接收到的字节，同时相关标志自动清除
//                
//                if((RS485_RX_CNT<2047)&&(err==0))
//                {
//                        RS485_RX_BUFF[RS485_RX_CNT]=res;
//                        RS485_RX_CNT++;
//                        
//                        TIM_ClearITPendingBit(TIM7,TIM_IT_Update);//清除定时器溢出中断
//                        TIM_SetCounter(TIM7,0);//当接收到一个新的字节，将定时器7复位为0，重新计时（相当于喂狗）
//                        TIM_Cmd(TIM7,ENABLE);//开始计时
//                }
//        }
//}

///////////////////////////////////////////////////////////////////////////////////////
//用定时器7判断接收空闲时间，当空闲时间大于指定时间，认为一帧结束
//定时器7中断服务程序         
//void TIM7_IRQHandler(void)
//{                                                                   
//        if(TIM_GetITStatus(TIM7,TIM_IT_Update)!=RESET)
//        {
//                TIM_ClearITPendingBit(TIM7,TIM_IT_Update);//清除中断标志
//                TIM_Cmd(TIM7,DISABLE);//停止定时器
//                RS485_TX_ON;//停止接收，切换为发送状态
//                RS485_FrameFlag=1;//置位帧结束标记
//        }
//}

/////////////////////////////////////////////////////////////////////////////////////
//RS485服务程序，用于处理接收到的数据(请在主函数中循环调用)
u16 startRegAddr;
u16 RegNum;
u16 calCRC;
void RS485_Service(void)
{
        u16 recCRC;
        //if(RS485_FrameFlag==1)
        //{
                if(RS485_RX_BUFF[0]==RS485_Addr)//地址正确
                {
                   //if((RS485_RX_BUFF[1]==01)||(RS485_RX_BUFF[1]==02)||(RS485_RX_BUFF[1]==03)||(RS485_RX_BUFF[1]==05)||(RS485_RX_BUFF[1]==06)||(RS485_RX_BUFF[1]==15)||(RS485_RX_BUFF[1]==16))//功能码正确
                  if((RS485_RX_BUFF[1]==03)||(RS485_RX_BUFF[1]==06)||(RS485_RX_BUFF[1]==16))
                                    {
                                startRegAddr=(((u16)RS485_RX_BUFF[2])<<8)|RS485_RX_BUFF[3];//获取寄存器起始地址
                                if(startRegAddr<MODBUS_SIZE)//寄存器地址在范围内
                                {
                                                                            if(RS485_RX_BUFF[1]==16)
                                                                            {
                                                                                RS485_RX_CNT=RS485_RX_BUFF[6]+9;//接收数据长度																			
                                                                            }
                                                                            else
                                                                            {
                                                                                RS485_RX_CNT = 8;//数据长度
                                                                            }
                                        calCRC=CRC_Compute(RS485_RX_BUFF,RS485_RX_CNT-2);//计算所接收数据的CRC
                                        recCRC=RS485_RX_BUFF[RS485_RX_CNT-1]|(((u16)RS485_RX_BUFF[RS485_RX_CNT-2])<<8);//接收到的CRC(低字节在前，高字节在后)
                                        if(calCRC==recCRC)//CRC校验正确
                                        {
                                                //LED1=0;
                                                /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
                                                switch(RS485_RX_BUFF[1])//根据不同的功能码进行处理
                                                {
//                                                        case 2://读输入开关量
//                                                        {
//                                                                Modbus_02_Solve();
//                                                                break;
//                                                        }
                                                        
//                                                        case 1://读输出开关量
//                                                        {
//                                                                Modbus_01_Solve();
//                                                                break;
//                                                        }
                                                                
//                                                        case 5://写单个输出开关量
//                                                        {
//                                                                Modbus_05_Solve();
//                                                                break;
//                                                        }
//                                                                
//                                                        case 15://写多个输出开关量
//                                                        {
//                                                                Modbus_15_Solve();
//                                                                break;
//                                                        }
                                                                
                                                        case 03: //读多个寄存器
                                                        {																
                                                                Modbus_03_Solve();
                                                                break;
                                                        }
                                                                
                                                        case 06: //写单个寄存器
                                                        {
                                                                Modbus_06_Solve();
                                                                break;
                                                        }
                                                                
                                                        case 16: //写多个寄存器
                                                        {
                                                                Modbus_16_Solve();
                                                                break;
                                                        }
                                                                                        
                                                }
                                                //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
                                        }
                                        else//CRC校验错误
                                        {

                                                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                                                RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                                                RS485_TX_BUFF[2]=0x04; //异常码
                                                RS485_SendData(RS485_TX_BUFF,3);
                                                                                                cmd_mode = 0;//协议处理完成
                                        }        
                                }
                                else//寄存器地址超出范围
                                {
                                        RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                                        RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                                        RS485_TX_BUFF[2]=0x02; //异常码
                                        RS485_SendData(RS485_TX_BUFF,3);
                                                                                cmd_mode = 0;//协议处理完成
                                }                                                
                        }
                        else//功能码错误
                        {
                                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                                RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                                RS485_TX_BUFF[2]=0x01; //异常码
                                RS485_SendData(RS485_TX_BUFF,3);
                                                                cmd_mode = 0;//协议处理完成
                        }
          }
                                
                //RS485_FrameFlag=0;//复位帧结束标志
                RS485_RX_CNT=0;//接收计数器清零
                                cmd_mode = 0;//协议处理完成
        //}                
}

//Modbus功能码02处理程序/////////////////////////////////////////////////////程序已验证OK -----必须先配置PE4 PE3 PE2 PA0 åˆå§‹åŒ–按键才可以OK    KEY_Init();
//读输入开关量
void Modbus_02_Solve(void)
{
        u16 ByteNum;
        u16 i;
        RegNum= (((u16)RS485_RX_BUFF[4])<<8)|RS485_RX_BUFF[5];//获取寄存器数量
        if((startRegAddr+RegNum)<100)//寄存器地址+数量在范围内
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1];
                ByteNum=RegNum/8;//字节数
                if(RegNum%8) ByteNum+=1;//如果位数还有余数，则字节数+1
                RS485_TX_BUFF[2]=ByteNum;//返回要读取的字节数
                for(i=0;i<RegNum;i++)
                {
                        if(i%8==0) RS485_TX_BUFF[3+i/8]=0x00;
                        RS485_TX_BUFF[3+i/8]>>=1;//低位先发送
                        RS485_TX_BUFF[3+i/8]|=((*Modbus_InputIO[startRegAddr+i])<<7)&0x80;
                        if(i==RegNum-1)//发送到最后一个位了
                        {
                                if(RegNum%8) RS485_TX_BUFF[3+i/8]>>=8-(RegNum%8);//如果最后一个字节还有余数，则剩余MSB填充0
                        }
                }
                calCRC=CRC_Compute(RS485_TX_BUFF,ByteNum+3);
                RS485_TX_BUFF[ByteNum+3]=(calCRC>>8)&0xFF;
                RS485_TX_BUFF[ByteNum+4]=(calCRC)&0xFF;
                RS485_SendData(RS485_TX_BUFF,ByteNum+5);
        }
        else//寄存器地址+数量超出范围
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                RS485_TX_BUFF[2]=0x02; //异常码
                RS485_SendData(RS485_TX_BUFF,3);
        }
}

//Modbus功能码01处理程序 ///////////////////////////////////////////////////////////程序已验证OK
//读输出开关量
void Modbus_01_Solve(void)
{
        u16 ByteNum;
        u16 i;
        RegNum= (((u16)RS485_RX_BUFF[4])<<8)|RS485_RX_BUFF[5];//获取寄存器数量
        if((startRegAddr+RegNum)<100)//寄存器地址+数量在范围内
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1];
                ByteNum=RegNum/8;//字节数
                if(RegNum%8) ByteNum+=1;//如果位数还有余数，则字节数+1
                RS485_TX_BUFF[2]=ByteNum;//返回要读取的字节数
                for(i=0;i<RegNum;i++)
                {
                        if(i%8==0) RS485_TX_BUFF[3+i/8]=0x00;
                        RS485_TX_BUFF[3+i/8]>>=1;//低位先发送
                        RS485_TX_BUFF[3+i/8]|=((*Modbus_OutputIO[startRegAddr+i])<<7)&0x80;
                        if(i==RegNum-1)//发送到最后一个位了
                        {
                                if(RegNum%8) RS485_TX_BUFF[3+i/8]>>=8-(RegNum%8);//如果最后一个字节还有余数，则剩余MSB填充0
                        }
                }
                calCRC=CRC_Compute(RS485_TX_BUFF,ByteNum+3);
                RS485_TX_BUFF[ByteNum+3]=(calCRC>>8)&0xFF;
                RS485_TX_BUFF[ByteNum+4]=(calCRC)&0xFF;
                RS485_SendData(RS485_TX_BUFF,ByteNum+5);
        }
        else//寄存器地址+数量超出范围
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                RS485_TX_BUFF[2]=0x02; //异常码
                RS485_SendData(RS485_TX_BUFF,3);
        }
}

//Modbus功能码05处理程序   ///////////////////////////////////////////////////////程序已验证OK
//写单个输出开关量
void Modbus_05_Solve(void)
{
        if(startRegAddr<100)//寄存器地址在范围内
        {
                if((RS485_RX_BUFF[4]==0xFF)||(RS485_RX_BUFF[5]==0xFF)) *Modbus_OutputIO[startRegAddr]=0x01;
                else *Modbus_OutputIO[startRegAddr]=0x00;
                
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1];
                RS485_TX_BUFF[2]=RS485_RX_BUFF[2];
                RS485_TX_BUFF[3]=RS485_RX_BUFF[3];
                RS485_TX_BUFF[4]=RS485_RX_BUFF[4];
                RS485_TX_BUFF[5]=RS485_RX_BUFF[5];
                
                calCRC=CRC_Compute(RS485_TX_BUFF,6);
                RS485_TX_BUFF[6]=(calCRC>>8)&0xFF;
                RS485_TX_BUFF[7]=(calCRC)&0xFF;
                RS485_SendData(RS485_TX_BUFF,8);
        }
        else//寄存器地址超出范围
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                RS485_TX_BUFF[2]=0x02; //异常码
                RS485_SendData(RS485_TX_BUFF,3);
        }
}

//Modbus功能码15处理程序   //////////////////////////////////////////////////////程序已验证OK
//写多个输出开关量
void Modbus_15_Solve(void)
{
        u16 i;
        RegNum=(((u16)RS485_RX_BUFF[4])<<8)|RS485_RX_BUFF[5];//获取寄存器数量
        if((startRegAddr+RegNum)<100)//寄存器地址+数量在范围内
        {        
                for(i=0;i<RegNum;i++)
                {
                        if(RS485_RX_BUFF[7+i/8]&0x01) *Modbus_OutputIO[startRegAddr+i]=0x01;
                        else *Modbus_OutputIO[startRegAddr+i]=0x00;
                        RS485_RX_BUFF[7+i/8]>>=1;//从低位开始
                }
                
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1];
                RS485_TX_BUFF[2]=RS485_RX_BUFF[2];
                RS485_TX_BUFF[3]=RS485_RX_BUFF[3];
                RS485_TX_BUFF[4]=RS485_RX_BUFF[4];
                RS485_TX_BUFF[5]=RS485_RX_BUFF[5];
                calCRC=CRC_Compute(RS485_TX_BUFF,6);
                RS485_TX_BUFF[6]=(calCRC>>8)&0xFF;
                RS485_TX_BUFF[7]=(calCRC)&0xFF;
                RS485_SendData(RS485_TX_BUFF,8);
        }
        else//寄存器地址+数量超出范围
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                RS485_TX_BUFF[2]=0x02; //异常码
                RS485_SendData(RS485_TX_BUFF,3);
        }
}

//Modbus功能码03处理程序///////////////////////////////////////////////////////////////////////////////////////已验证程序OK
//读保持寄存器
void Modbus_03_Solve(void)
{
        u8 i;
        RegNum= (((u16)RS485_RX_BUFF[4])<<8)|RS485_RX_BUFF[5];//获取寄存器数量
        if((startRegAddr+RegNum)<MODBUS_SIZE)//寄存器地址+数量在范围内
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1];
                RS485_TX_BUFF[2]=RegNum*2;
                for(i=0;i<RegNum;i++)
                {
                        RS485_TX_BUFF[3+i*2]=(Modbus_HoldReg[startRegAddr+i]>>8)&0xFF;//           /////////先发送高字节--在发送低字节
                        RS485_TX_BUFF[4+i*2]=(Modbus_HoldReg[startRegAddr+i])&0xFF; //
                }
                calCRC=CRC_Compute(RS485_TX_BUFF,RegNum*2+3);
                RS485_TX_BUFF[RegNum*2+3]=(calCRC>>8)&0xFF;         //CRC高地位不对吗？  // å…ˆé«˜åŽä½Ž
                RS485_TX_BUFF[RegNum*2+4]=(calCRC)&0xFF;
                RS485_SendData(RS485_TX_BUFF,RegNum*2+5);
        }
        else//寄存器地址+数量超出范围
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                RS485_TX_BUFF[2]=0x02; //异常码
                RS485_SendData(RS485_TX_BUFF,3);
        }
}


//Modbus功能码06处理程序   //////////////////////////////////////////////////////////////////////////////////已验证程序OK
//写单个保持寄存器
void Modbus_06_Solve(void)
{
        Modbus_HoldReg[startRegAddr]=RS485_RX_BUFF[4]<<8;//高字节在前                    ////////修改为高字节在前，低字节在后
        Modbus_HoldReg[startRegAddr]|=((u16)RS485_RX_BUFF[5]);//低字节在后
        
        RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
        RS485_TX_BUFF[1]=RS485_RX_BUFF[1];
        RS485_TX_BUFF[2]=RS485_RX_BUFF[2];
        RS485_TX_BUFF[3]=RS485_RX_BUFF[3];
        RS485_TX_BUFF[4]=RS485_RX_BUFF[4];
        RS485_TX_BUFF[5]=RS485_RX_BUFF[5];
        
        calCRC=CRC_Compute(RS485_TX_BUFF,6);
        RS485_TX_BUFF[6]=(calCRC>>8)&0xFF;
        RS485_TX_BUFF[7]=(calCRC)&0xFF;
        RS485_SendData(RS485_TX_BUFF,8);
}

//Modbus功能码16处理程序 /////////////////////////////////////////////////////////////////////////////////////////////////已验证程序OK
//写多个保持寄存器
void Modbus_16_Solve(void)
{
        u8 i;
        RegNum= (((u16)RS485_RX_BUFF[4])<<8)|((RS485_RX_BUFF[5]));//获取寄存器数量
        if((startRegAddr+RegNum)<MODBUS_SIZE)//寄存器地址+数量在范围内
        {
                for(i=0;i<RegNum;i++)
                {
                        Modbus_HoldReg[startRegAddr+i]=RS485_RX_BUFF[7+i*2]; //低字节在前                 /////// ä½Žå­—节在前，高字节在后正常
                        Modbus_HoldReg[startRegAddr+i]|=((u16)RS485_RX_BUFF[8+i*2])<<8; //高字节在后
                }
                
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1];
                RS485_TX_BUFF[2]=RS485_RX_BUFF[2];
                RS485_TX_BUFF[3]=RS485_RX_BUFF[3];
                RS485_TX_BUFF[4]=RS485_RX_BUFF[4];
                RS485_TX_BUFF[5]=RS485_RX_BUFF[5];
                
                calCRC=CRC_Compute(RS485_TX_BUFF,6);
                RS485_TX_BUFF[6]=(calCRC>>8)&0xFF;
                RS485_TX_BUFF[7]=(calCRC)&0xFF;
                RS485_SendData(RS485_TX_BUFF,8);
        }
        else//寄存器地址+数量超出范围
        {
                RS485_TX_BUFF[0]=RS485_RX_BUFF[0];
                RS485_TX_BUFF[1]=RS485_RX_BUFF[1]|0x80;
                RS485_TX_BUFF[2]=0x02; //异常码
                RS485_SendData(RS485_TX_BUFF,3);
        }
}

 

 

 Ô´Âë/ºËÐÄ°å/Src/application/modbus.h

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,34 @@
#ifndef _MODBUS_H
#define _MODBUS_H
//#include "sys.h"
#include "stm32f10x.h"

//#define RS485_TX_EN PDout(7) 

#define RS485_TX_PIN                    GPIO_Pin_7
#define RS485_TX_GPIO                    GPIOB
#define RS485_TX_ON                        GPIO_WriteBit(RS485_TX_GPIO, RS485_TX_PIN, Bit_SET)
#define RS485_TX_OFF                    GPIO_WriteBit(RS485_TX_GPIO, RS485_TX_PIN, Bit_RESET)

#define MODBUS_SIZE 200

#define WAITDELAYCOUNT 500                    //剩余1位数据等待次数
extern u8 cmd_mode;
extern u8 RS485_Addr;
extern u8 RS485_RX_BUFF[200];
extern u16 RS485_RX_CNT;
//extern u8 DATA_RX_BUFF[2048];
extern u16 Modbus_HoldReg[MODBUS_SIZE];

void RS485_Init(void);
void Timer7_Init(void);
void RS485_Service(void);
void Modbus_02_Solve(void);
void Modbus_01_Solve(void);
void Modbus_05_Solve(void);
void Modbus_15_Solve(void);
void Modbus_03_Solve(void);
void Modbus_06_Solve(void);
void Modbus_16_Solve(void);

#endif

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -56,9 +56,9 @@
//    g_com_map[COM_INTERVAL]=10;
    OUT485_ENABLE;
    g_com_map[VERSION] = 0x0104;        
    tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
    if(g_com_map[DEV_ROLE])
    {
        tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
    printf("标签ID: %d .\r\n",dev_id);
    printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
    printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
@@ -135,7 +135,7 @@
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
    usart_send[0]=0x55;
    usart_send[1]=0xAA;
	
    Modbus_RegMap();
    while(1)
    {
        IdleTask();        

 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -82,6 +82,13 @@
        {
            SyncPoll(0);
        }
        if(g_com_map[ANC_POLL])
        {
            if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time)
            {
            g_start_send_flag=1;
            }
        }
    }
    }else{        //标签同步处理
        if(sync_timer>=1010)