Revision 0:998a68b8defc, committed 2019-09-17

Comitter:

yao6116601

Date:

Tue Sep 17 01:59:40 2019 +0000

Commit message:

modbus server

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.gitignore	Tue Sep 17 01:59:40 2019 +0000
@@ -0,0 +1,4 @@
+.build
+.mbed
+projectfiles
+*.py*

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/README.md	Tue Sep 17 01:59:40 2019 +0000
@@ -0,0 +1,2 @@
+# simple modbus communication on mbed OS
+for control 10 DigitalIn & 10 DigitalOut
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Sep 17 01:59:40 2019 +0000
@@ -0,0 +1,173 @@
+#include "mbed.h"
+#include "modbus.h"
+DigitalOut led1(PC_6);
+
+DigitalIn DI0(PF_5);
+DigitalIn DI1(PF_3);
+DigitalIn DI2(PF_7);
+DigitalIn DI3(PF_6);
+DigitalIn DI4(PA_5);
+DigitalIn DI5(PB_8);
+DigitalIn DI6(PF_10);
+DigitalIn DI7(PF_4);
+DigitalIn DI8(PF_8);
+DigitalIn DI9(PF_9);
+
+DigitalOut DO0(PE_11);
+DigitalOut DO1(PE_7);
+DigitalOut DO2(PB_0);
+DigitalOut DO3(PA_4);
+DigitalOut DO4(PC_2);
+DigitalOut DO5(PF_2);
+DigitalOut DO6(PF_0);
+DigitalOut DO7(PF_1);
+DigitalOut DO8(PC_0);
+DigitalOut DO9(PC_3);
+//
+DigitalOut HF(PD_14);
+Modbus slave(PB_6,PB_7,PD_12,9600);
+uint8_t myAddress=0x01;
+uint16_t data[32];
+uint16_t readDI(uint16_t address)
+{ 
+   uint16_t terminal=address-100;
+   switch(terminal)
+   {
+       case 0:{
+           if (DI0) return 0xffff;
+           else return 0;
+           } 
+     case 1:{
+          if (DI1) return 0xffff;
+           else return 0;
+          } 
+     case 2:{
+        if (DI2) return 0xffff;
+           else return 0;
+            } 
+     case 3:{
+         if (DI3) return 0xffff;
+           else return 0;
+            } 
+     case 4:{
+            if (DI4) return 0xffff;
+           else return 0;
+             } 
+     case 5:{
+             if (DI5) return 0xffff;
+           else return 0;
+             } 
+     case 6:{
+             if (DI6) return 0xffff;
+           else return 0;
+            } 
+     case 7:{
+            if (DI7) return 0xffff;
+           else return 0;
+            } 
+     case 8:{
+           if (DI8) return 0xffff;
+           else return 0;
+           } 
+     case 9:{
+            if (DI9) return 0xffff;
+           else return 0;
+            } 
+     } 
+   return 0;  
+ }
+ uint16_t writeDO(uint16_t address,uint16_t value)
+{ 
+   uint16_t terminal=address-100;
+   switch(terminal)
+   {
+       case 0:{
+           DO0=value&0x0001;
+           if (DO0) return 0xffff;
+           else return 0;
+           } 
+     case 1:{
+          DO1=value&0x0001;
+          if (DO1) return 0xffff;
+           else return 0;
+          } 
+     case 2:{
+        DO2=value&0x0001;
+        if (DO2) return 0xffff;
+           else return 0;
+            } 
+     case 3:{
+         DO3=value&0x0001;
+         if (DO3) return 0xffff;
+           else return 0;
+            } 
+     case 4:{
+          DO4=value&0x0001;
+          if (DO4) return 0xffff;
+           else return 0;
+             } 
+     case 5:{
+            DO5=value&0x0001;
+            if (DO5) return 0xffff;
+           else return 0;
+             } 
+     case 6:{
+          DO6=value&0x0001;
+          if (DO6) return 0xffff;
+           else return 0;
+            } 
+     case 7:{
+           DO7=value&0x0001;
+           if (DO7) return 0xffff;
+           else return 0;
+            } 
+     case 8:{
+          DO8=value&0x0001;
+          if (DO8) return 0xffff;
+           else return 0;
+           } 
+     case 9:{
+           DO9=value&0x0001;
+           if (DO9) return 0xffff;
+           else return 0;
+            } 
+     } 
+  return 0; 
+ }
+void waitQuery()
+{   uint8_t address;
+    uint8_t function;
+    uint16_t startAddress;
+    uint16_t points;
+    int i;
+   if(slave.waitQuery(address,function,startAddress,points))
+     {
+        if ((address==myAddress)&&(function==0x03))  
+        { //read reigster
+          uint16_t p=startAddress;
+          for (i=0;i<points;i++)
+          {
+            data[i]= readDI(p++);
+            }
+          slave.sendResponse((uint8_t *)data,(uint8_t)(points*2));
+         } else
+         if ((address==myAddress)&&(function==0x06))
+         { //write register
+     
+            data[0]= writeDO(startAddress,points);     
+            slave.sendResponse((uint8_t *)data,2);
+             }
+      }
+    }
+int main() {
+    int i;
+    printf("modbus controller\n");
+    HF=1;
+    while (true) {
+        waitQuery();
+        led1 = !led1;
+      
+              
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Tue Sep 17 01:59:40 2019 +0000
@@ -0,0 +1,1 @@
+https://github.com/ARMmbed/mbed-os/#1bf6b20df9d3cd5f29f001ffc6f0d0fcbbb96118

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modbus/modbus.cpp	Tue Sep 17 01:59:40 2019 +0000
@@ -0,0 +1,204 @@
+#include "modbus.h"
+#define   MODBUS_DEFAULT_BAUD_RATE   9600
+       const  char auchCRCHi[256]={
+    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  char auchCRCLo[256]={
+    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
+};
+Modbus::Modbus(PinName tx, PinName rx,PinName txEnable, int baud)
+: rs485(tx, rx,baud),
+dir(txEnable)
+{
+    rs485.format(8, Serial::None, 1);
+    }
+bool Modbus::sendQuery(uint8_t address,uint8_t function,uint16_t startAddress,uint16_t points)
+{  int index,i;
+     index=0;
+     _address=address;
+     _function=function;
+     _startAddress=startAddress;
+     _points=points;
+    sbuf[index++]=address;
+    sbuf[index++]=function;
+    sbuf[index++]=(startAddress>>8)&0xff;
+    sbuf[index++]=startAddress&0xff;
+    sbuf[index++]=(points>>8)&0xff;
+    sbuf[index++]=points&0xff;
+    unsigned short resultCRC =  calculateCRC16(sbuf,index); 
+     sbuf[index++]=(resultCRC>>8)&0xff;
+    sbuf[index++]=resultCRC&0xff;
+    dir=1;
+    wait_ms(2);
+    for (i=0;i<index;i++)
+      {
+      rs485.putc(sbuf[i]);
+  
+      }
+     wait_ms(2);
+    dir=0;
+    return true;
+    }
+int  Modbus::waitResponse(uint8_t *data)
+ {  unsigned short resultCRC ,recCRC;
+    
+    int state,index,len,cnt,i;
+    uint8_t ch;
+    bool flag;
+     flag=true;
+     state=0;
+     index=0;
+     while(flag)
+     {  ch=rs485.getc();
+        
+         switch(state)
+         {
+             case 0:{
+                 if (ch==_address)
+                   {state=1;
+                   rbuf[index++]=ch;}
+                 break;
+                 }
+            case 1:{
+               
+              if (ch==_function)
+                   {state=2;rbuf[index++]=ch;}
+                   else if(ch==(_function+0x80))
+                     state=10;
+                     else 
+                     return 0;
+                 break;
+                 }
+             case 2:{
+                    len=ch;cnt=ch;
+                    rbuf[index++]=ch;
+                    state=3;
+                    break;
+                    } 
+             case 3:{
+                    rbuf[index++]=ch;
+                    cnt--;
+                    if (cnt==0)
+                      { 
+                      state=4;
+                     
+                      }
+                    break;
+                    }
+              case 4:{
+                     recCRC=ch;
+                     state=5;
+                     break;
+                     } 
+              case 5:{
+                     recCRC=(recCRC<<8)|ch;
+                      resultCRC =  calculateCRC16(rbuf,index);  
+                   //  printf("CRC=%02x,%02x\n",recCRC,resultCRC);
+                     if (recCRC==resultCRC) {
+                         for (i=0;i<len;i++)
+                           data[i]=rbuf[3+i];
+                         return len;
+                         }
+                     else return 0;
+                     }
+               case 10:{
+                       len=0;
+                       flag=false;
+                       break;
+                       }                            
+             }
+         } 
+    
+        return len;
+     }
+bool  Modbus::waitQuery(uint8_t &address,uint8_t &function,uint16_t &startAddress,uint16_t &points)
+{ 
+unsigned short resultCRC ,recCRC;   
+    int i;
+    for (i=0;i<8;i++)
+     rbuf[i]=rs485.getc();
+     resultCRC =  calculateCRC16(rbuf,6);  
+     recCRC=(rbuf[6]<<8)|rbuf[7];
+     if ( resultCRC!=recCRC) return false;
+        address=rbuf[0];
+        _address=rbuf[0];
+        function=rbuf[1];
+        _function=rbuf[1]; 
+        _startAddress=(rbuf[2]<<8)|rbuf[3];
+        startAddress=_startAddress;
+        _points=(rbuf[4]<<8)|rbuf[5];
+        points=_points;
+        return true;
+    } 
+ bool Modbus::sendResponse(uint8_t *data,uint8_t length)
+ { 
+ unsigned short resultCRC;
+  int index,i;
+  index=0;
+     sbuf[index++]=_address;
+     sbuf[index++]=_function;
+     sbuf[index++]= length;
+    for (i=0;i<length;i++)
+     sbuf[index++]=data[i];
+     resultCRC =  calculateCRC16(rbuf,index);  
+     sbuf[index++]=(resultCRC>>8)&0xff;
+     sbuf[index++]=resultCRC &0xff;
+   for (i=0;i<index;i++)
+      rs485.putc(sbuf[i]) ;
+      return true;
+     }       
+unsigned int  Modbus::calculateCRC16( uint8_t *puchMsg,unsigned int  usDataLen)
+{
+    unsigned char uchCRCHi,uchCRCLo;
+    unsigned char uIndex=0 ;                             /* will index into CRC lookup table */
+    unsigned char tempp=0;
+    unsigned int CRCHL=0;
+    uchCRCHi=0xFF ;                             // high byte of CRC initialized 
+    uchCRCLo=0xFF ; 
+    tempp=0;                           // low byte of CRC initialized 
+    while(usDataLen--)                       // pass through message buffer 
+    {
+        uIndex=uchCRCHi^*puchMsg++ ; // calculate the CRC high byte         
+        tempp++;
+        uchCRCHi=uchCRCLo^auchCRCHi[uIndex] ;//01-auchCRCHi[254]:0x81;02-0x01;03-0x80;04-0xC0
+        uchCRCLo=auchCRCLo[uIndex] ;               
+    }
+    CRCHL=uchCRCHi;
+    CRCHL=CRCHL<<8;
+    CRCHL|=uchCRCLo;        
+    return CRCHL;//(uchCRCHi<<8|uchCRCLo) ;//uchCRCHi:0xa1;uchCRCLo:2B
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modbus/modbus.h	Tue Sep 17 01:59:40 2019 +0000
@@ -0,0 +1,35 @@
+/*
+  modbus  comuunication class
+   By modular-2 team 2018/8/3
+  modbus  mode=RTU master/salve
+  usage:
+  master mode:
+     sendQuery
+     waitResponse
+  salve mode:
+        waitQuery
+        sendResponse
+   */
+#ifndef MODBUS_H
+#define MODBUS_H
+#include "mbed.h"
+class Modbus
+{
+    public:
+      Modbus(PinName tx, PinName rx,PinName txEnable, int baud);
+      bool sendQuery(uint8_t address,uint8_t function,uint16_t startAddress,uint16_t points);
+      int  waitResponse(uint8_t *data);
+      bool  waitQuery(uint8_t &address,uint8_t &function,uint16_t &startAddress,uint16_t &points);
+      bool sendResponse(uint8_t *data,uint8_t length); 
+    private:
+        uint8_t sbuf[32];
+        uint8_t rbuf[32];
+        Serial rs485;
+        DigitalOut dir;
+        uint8_t _address;
+        uint8_t _function;
+        uint16_t _startAddress;
+        uint16_t _points;
+        unsigned int  calculateCRC16( uint8_t *puchMsg,unsigned int  usDataLen);
+    };
+#endif    
\ No newline at end of file