robot/Spoolend/modbus.c

#include "stm32g4xx_hal.h"
#include <stdint.h>
#include <stdbool.h>
#include "modbus.h"
#include "usart.h"
void Modbus_Master_Send(uint8_t *data, uint8_t length);
uint16_t holdingRegisters[REGISTER_COUNT] = { 0x0032, 0x0032, 0x0032, 0x0032,
		0x0032, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000, 0x0000 };

// 寄存器可写标志位（1:可写，0:只读）
uint8_t registerWritable[REGISTER_COUNT] = { registerWritable_0,
registerWritable_1, registerWritable_2, registerWritable_3,
registerWritable_4, registerWritable_5, registerWritable_6,
registerWritable_7,
registerWritable_8, registerWritable_9, registerWritable_10,
registerWritable_11 };

/* 全局变量 */
uint8_t modbusBuffer[MODBUS_BUFFER_SIZE];
uint8_t modbus_master_Buffer[MODBUS_BUFFER_SIZE];
uint8_t modbus_master_BufferIndex = 0;
uint32_t last_master_ByteTime = 0;
uint8_t modbusBufferIndex = 0;
uint32_t lastByteTime = 0;
bool messageComplete = false;
uint8_t master_tx_buf[256];
uint8_t response[256];
uint8_t RS485_1_RX = 0;
uint8_t RS485_1_Host_Existed = 0;

char dmk_read_state=0;
/* 函数声明 */
void Modbus_Init(void);
void Modbus_Process(void);
void Modbus_SendResponse(uint8_t *data, uint8_t length);
void Modbus_HandleFunction03(uint16_t startAddress, uint16_t registerCount);
void Modbus_HandleFunction06(uint16_t registerAddress, uint16_t value);
void Modbus_HandleFunction10(uint16_t startAddress, uint16_t registerCount,
		uint8_t *data);
void Modbus_SendExceptionResponse(uint8_t exceptionCode);
uint16_t CalculateCRC(uint8_t *data, uint8_t length);

/* 初始化函数 */
void Modbus_Init(void) {
	/* 初始化UART */
	/* 配置RS485方向控制引脚 */
	HAL_UART_Receive_IT(&huart1, (uint8_t*) &modbusBuffer[modbusBufferIndex],
			1);

	HAL_UART_Receive_IT(&huart2,
			(uint8_t*) &modbus_master_Buffer[modbus_master_BufferIndex], 1);
}

/* Modbus处理函数 - 应在主循环中调用 */
void Modbus_Process(void) {
	uint16_t startAddress = 0;
	uint16_t registerCount = 0;
	if (modbusBufferIndex
			> 0&& (HAL_GetTick() - lastByteTime) > MODBUS_TIMEOUT_MS) {
		/* 超时，标记消息完成 */
		messageComplete = true;
	}
	if (messageComplete) {
		uint16_t crcReceived = (modbusBuffer[modbusBufferIndex - 1] << 8)
				| modbusBuffer[modbusBufferIndex - 2];
		uint16_t crcCalculated = CalculateCRC(modbusBuffer,
				modbusBufferIndex - 2);

		if (MODBUS_CRC_OFF || crcReceived == crcCalculated) {
			RS485_1_Host_Existed = 1;

			if (modbusBuffer[0] == MODBUS_SLAVE_ADDRESS) {
				RS485_1_RX = 1;
				switch (modbusBuffer[1]) {
				case MODBUS_FUNCTION_CODE_03:
					startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3];
					registerCount = (modbusBuffer[4] << 8) | modbusBuffer[5];
					Modbus_HandleFunction03(startAddress, registerCount);
					break;
				case MODBUS_FUNCTION_CODE_06:
					startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3];
					uint16_t value = (modbusBuffer[4] << 8) | modbusBuffer[5];
					Modbus_HandleFunction06(startAddress, value);
					break;
				case MODBUS_FUNCTION_CODE_10:
					startAddress = (modbusBuffer[2] << 8) | modbusBuffer[3];
					registerCount = (modbusBuffer[4] << 8) | modbusBuffer[5];
					uint8_t byteCount = modbusBuffer[6];
					// 检查数据长度是否正确
					if (byteCount == registerCount * 2
							&& modbusBufferIndex - 2 >= 7 + byteCount) { // 7是功能码10的固定头部长度
						Modbus_HandleFunction10(startAddress, registerCount,
								&modbusBuffer[7]);
					} else {
						Modbus_SendExceptionResponse(0x03);  // 数据长度错误
					}
					break;
				default:
					Modbus_SendExceptionResponse(0x01); // 不支持的功能码
					break;

				}
			}
		}

		/* 重置缓冲区 */
		modbusBufferIndex = 0;
		messageComplete = false;
	}
}

/* 处理功能码03 */
void Modbus_HandleFunction03(uint16_t startAddress, uint16_t registerCount) {
	/* 检查地址和数量是否合法 */
	if (startAddress < REGISTER_START_ADDRESS
			|| startAddress + registerCount
					> REGISTER_START_ADDRESS + REGISTER_COUNT
			|| registerCount > 0x7D) {
		Modbus_SendExceptionResponse(0x02); // 地址错误
		return;
	}

	uint8_t byteCount = registerCount * 2;
	uint8_t index = 0;

	response[index++] = MODBUS_SLAVE_ADDRESS;
	response[index++] = MODBUS_FUNCTION_CODE_03;
	response[index++] = byteCount;

	for (uint16_t i = 0; i < registerCount; i++) {
		uint16_t regValue = holdingRegisters[(startAddress
				- REGISTER_START_ADDRESS) + i];
		response[index++] = (regValue >> 8) & 0xFF;
		response[index++] = regValue & 0xFF;
	}

	uint16_t crc = CalculateCRC(response, index);
	response[index++] = crc & 0xFF;
	response[index++] = (crc >> 8) & 0xFF;

	Modbus_SendResponse(response, index);
}

/* 处理功能码06 */
void Modbus_HandleFunction06(uint16_t registerAddress, uint16_t value) {
	/* 检查地址是否合法 */
	if (registerAddress < REGISTER_START_ADDRESS
			|| registerAddress >= REGISTER_START_ADDRESS + REGISTER_COUNT) {
		Modbus_SendExceptionResponse(0x02); // 地址错误
		return;
	}

	/* 写入寄存器值 */
	holdingRegisters[registerAddress - REGISTER_START_ADDRESS] = value;

	/* 准备响应帧 - 功能码06的响应是原请求帧的原样返回 */
	uint8_t index = 0;
	response[index++] = MODBUS_SLAVE_ADDRESS;
	response[index++] = MODBUS_FUNCTION_CODE_06;
	response[index++] = (registerAddress >> 8) & 0xFF;  // 寄存器地址高8位
	response[index++] = registerAddress & 0xFF;         // 寄存器地址低8位
	response[index++] = (value >> 8) & 0xFF;            // 写入值高8位
	response[index++] = value & 0xFF;                   // 写入值低8位

	/* 计算CRC并添加到响应帧 */
	uint16_t crc = CalculateCRC(response, index);
	response[index++] = crc & 0xFF;
	response[index++] = (crc >> 8) & 0xFF;

	/* 发送响应 */
	Modbus_SendResponse(response, index);
}

// 添加功能码0x10处理函数
void Modbus_HandleFunction10(uint16_t startAddress, uint16_t registerCount,
		uint8_t *data) {
	// 检查地址和数量是否合法
	if (startAddress < REGISTER_START_ADDRESS
			|| startAddress + registerCount
					> REGISTER_START_ADDRESS + REGISTER_COUNT
			|| registerCount == 0 || registerCount > 0x7B) {
		Modbus_SendExceptionResponse(0x02);  // 地址错误
		return;
	}

	// 处理每个寄存器
	for (uint16_t i = 0; i < registerCount; i++) {
		uint16_t regIndex = (startAddress - REGISTER_START_ADDRESS) + i;
		uint16_t value = (data[i * 2] << 8) | data[i * 2 + 1];

		// 只有可写寄存器才更新值
		if (registerWritable[regIndex]) {
			holdingRegisters[regIndex] = value;
		}
		// 只读寄存器保持原有值，不做处理
	}

	// 准备响应帧 - 功能码0x10的响应包含起始地址和写入数量
	uint8_t index = 0;
	response[index++] = MODBUS_SLAVE_ADDRESS;
	response[index++] = MODBUS_FUNCTION_CODE_10;
	response[index++] = (startAddress >> 8) & 0xFF;  // 起始地址高8位
	response[index++] = startAddress & 0xFF;         // 起始地址低8位
	response[index++] = (registerCount >> 8) & 0xFF; // 写入数量高8位
	response[index++] = registerCount & 0xFF;        // 写入数量低8位

	// 计算CRC并添加到响应帧
	uint16_t crc = CalculateCRC(response, index);
	response[index++] = crc & 0xFF;
	response[index++] = (crc >> 8) & 0xFF;

	// 发送响应
	Modbus_SendResponse(response, index);
}

/* 发送异常响应 */
void Modbus_SendExceptionResponse(uint8_t exceptionCode) {

	response[0] = MODBUS_SLAVE_ADDRESS;
	response[1] = modbusBuffer[1] | 0x80;  // 异常功能码
	response[2] = exceptionCode;

	uint16_t crc = CalculateCRC(response, 3);
	response[3] = crc & 0xFF;
	response[4] = (crc >> 8) & 0xFF;

	Modbus_SendResponse(response, 5);
}

/* 发送响应 */
void Modbus_SendResponse(uint8_t *data, uint8_t length) {
	/* 使能RS485发送 */

	/* 发送数据 */
	HAL_UART_Transmit_DMA(&huart1, data, length);
	/* 切换到接收模式 */
}

/* 发送响应 */
void Modbus_Master_Send(uint8_t *data, uint8_t length) {
	/* 使能RS485发送 */

	/* 发送数据 */
	HAL_UART_Transmit_DMA(&huart2, data, length);
	/* 切换到接收模式 */
}
/* CRC计算 */
uint16_t CalculateCRC(uint8_t *data, uint8_t length) {
	uint16_t crc = 0xFFFF;

	for (uint8_t i = 0; i < length; i++) {
		crc ^= (uint16_t) data[i];

		for (uint8_t j = 0; j < 8; j++) {
			if ((crc & 0x0001) != 0) {
				crc >>= 1;
				crc ^= 0xA001;
			} else {
				crc >>= 1;
			}
		}
	}

	return crc;
}

/* UART接收中断回调函数 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
	if (huart == &huart1) {
		if (modbusBufferIndex < MODBUS_BUFFER_SIZE) {
			modbusBuffer[modbusBufferIndex++] = huart->Instance->RDR;
		} else {
			modbusBufferIndex = 0;
		}
		lastByteTime = HAL_GetTick();
		/* 重新启动接收中断 */
		HAL_UART_Receive_IT(&huart1,
				(uint8_t*) &modbusBuffer[modbusBufferIndex], 1);
	} else if (huart == &huart2) {

		if (modbus_master_BufferIndex < MODBUS_BUFFER_SIZE) {
			modbus_master_Buffer[modbus_master_BufferIndex++] =
					huart->Instance->RDR;
		} else {
			modbus_master_BufferIndex = 0;
		}
		last_master_ByteTime = HAL_GetTick();
		/* 重新启动接收中断 */
		HAL_UART_Receive_IT(&huart2,
				(uint8_t*) &modbus_master_Buffer[modbus_master_BufferIndex], 1);
	}
}

void MB_WriteHoldingReg(uint8_t _addr,
		uint16_t _reg, uint16_t _data) {
	uint16_t TxCount = 0;
	uint16_t crc = 0;
	master_tx_buf[TxCount++] = _addr; /* 从站地址 */
	master_tx_buf[TxCount++] = 0x06; /* 功能码 */
	master_tx_buf[TxCount++] = _reg >> 8; /* 寄存器地址 高字节 */
	master_tx_buf[TxCount++] = _reg; /* 寄存器地址 低字节 */
	master_tx_buf[TxCount++] = _data >> 8; /* 寄存器(16bits)个数 高字节 */
	master_tx_buf[TxCount++] = _data; /*  低字节 */


	crc = CalculateCRC(master_tx_buf, TxCount);
	master_tx_buf[TxCount++] = crc & 0xFF;
	master_tx_buf[TxCount++] = (crc >> 8) & 0xFF;

	Modbus_Master_Send(master_tx_buf,TxCount);
	dmk_read_state=0;
}


void calculate_dmk()
{
	if (modbus_master_BufferIndex
			> 0&& (HAL_GetTick() - last_master_ByteTime) > MODBUS_TIMEOUT_MS)
	{
		/* 接收标记消息完成 */
		dmk_read_state=1;//返回成功
	}
}