Revision 1:8fcbafe2ca98, committed 2019-09-28

Comitter:

yao6116601

Date:

Sat Sep 28 02:25:51 2019 +0000

Parent:

0:998a68b8defc

Commit message:

modbus for modular2_dio10

Changed in this revision

--- a/main.cpp	Tue Sep 17 01:59:40 2019 +0000
+++ b/main.cpp	Sat Sep 28 02:25:51 2019 +0000
@@ -1,7 +1,11 @@
+/*
+ * DTU for QianBang Robot Project
+ * Interface use Modular2_DIO10_V1.0
+ * Communication use Modular2_RS485_V1.0
+ * Copyright (c) 2019, Maximlab. All rights reserved.
+ */
 #include "mbed.h"
 #include "modbus.h"
-DigitalOut led1(PC_6);
-
 DigitalIn DI0(PF_5);
 DigitalIn DI1(PF_3);
 DigitalIn DI2(PF_7);
@@ -12,7 +16,6 @@
 DigitalIn DI7(PF_4);
 DigitalIn DI8(PF_8);
 DigitalIn DI9(PF_9);
-
 DigitalOut DO0(PE_11);
 DigitalOut DO1(PE_7);
 DigitalOut DO2(PB_0);
@@ -23,10 +26,10 @@
 DigitalOut DO7(PF_1);
 DigitalOut DO8(PC_0);
 DigitalOut DO9(PC_3);
-//
 DigitalOut HF(PD_14);
+DigitalOut led1(PC_6);
 Modbus slave(PB_6,PB_7,PD_12,9600);
-uint8_t myAddress=0x01;
+uint8_t myAddress=0x06;//Slave address
 uint16_t data[32];
 uint16_t readDI(uint16_t address)
 { 
@@ -78,7 +81,7 @@
  }
  uint16_t writeDO(uint16_t address,uint16_t value)
 { 
-   uint16_t terminal=address-100;
+   uint16_t terminal=address-120;
    switch(terminal)
    {
        case 0:{
@@ -141,9 +144,10 @@
     uint16_t points;
     int i;
    if(slave.waitQuery(address,function,startAddress,points))
-     {
+     {  printf("address=%d function:%d startAddress:%d Points:%d\n",address,function,startAddress,points);
         if ((address==myAddress)&&(function==0x03))  
         { //read reigster
+         
           uint16_t p=startAddress;
           for (i=0;i<points;i++)
           {

--- a/modbus/modbus.cpp	Tue Sep 17 01:59:40 2019 +0000
+++ b/modbus/modbus.cpp	Sat Sep 28 02:25:51 2019 +0000
@@ -177,8 +177,12 @@
      resultCRC =  calculateCRC16(rbuf,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;
      }       
 unsigned int  Modbus::calculateCRC16( uint8_t *puchMsg,unsigned int  usDataLen)