301 lines
10 KiB
C
301 lines
10 KiB
C
#include "modbus.h"
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#include "esp_log.h"
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#include "servo.h"
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#include <string.h>
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const uint8_t local = CONFIG_MODBUS_ID; /* 本设备的单元标识 */
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static const char *TAG = "modbus";
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/* Modbus所操作的寄存器和线圈数据 */
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uint16_t gWordVar[gWORD_SIZE];
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uint8_t gBitVar[(gBIT_SIZE + 7) / 8];
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/* CRC校验 */
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static const uint8_t auchCRCHi[] = {
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40};
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static const uint8_t auchCRCLo[] = {
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0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04,
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0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8,
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0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
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0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10,
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0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
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0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
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0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C,
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0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0,
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0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
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0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,
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0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C,
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0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
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0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54,
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0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98,
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0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
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0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40};
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uint16_t crc16(uint8_t *puchMsg, uint16_t usDataLen) {
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uint8_t uchCRCHi = 0xFF;
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uint8_t uchCRCLo = 0xFF;
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uint32_t uIndex;
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while (usDataLen--)
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{
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uIndex = uchCRCHi ^ *puchMsg++;
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uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];
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uchCRCLo = auchCRCLo[uIndex];
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}
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return (uchCRCHi << 8 | uchCRCLo);
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}
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int isBitHI(uint16_t Add) {
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if (gBitVar[(Add) >> 3] & (1 << ((Add)&0x07))) {
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return 1;
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} else {
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return 0;
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}
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}
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void ModBusBitWriteHook(uint16_t addr, uint16_t length) {
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}
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modbus_data_type_t *modbus_data = (modbus_data_type_t *)&gWordVar[0];
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void ModBusWordWriteHook(uint16_t addr, uint16_t length) {
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while (length--)
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{
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switch (addr)
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{
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case MODBUS_ANGLE_ADDR: /* 角度设置，注意没有break，因为速度变了角度也要变 */
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float angle = (short)modbus_data->angle;
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angle = -1.0 * angle / BDC_SERVO_INPUT_RANGE * BDC_SERVO_REAL_RANGE; /* 将输入范围映射到-45->45度上 */
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servo_set_angle(angle);
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case MODBUS_SPEED_ADDR: /* 速度设置，因为速度的控制是需要定时触发的，不是异步的，所以不在这里处理 */
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break;
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case MODBUS_P_ADDR:
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case MODBUS_I_ADDR:
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case MODBUS_D_ADDR:
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ESP_LOGI(TAG, "pid is change");
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modbus_data->pid_flag = 3; /* PID被修改了 */
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break;
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default:
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ESP_LOGI(TAG, "write undefine addr");
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break;
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}
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addr++;
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}
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}
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int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_crc) {
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uint16_t crcData, crcChk;
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uint8_t Offset, ByteAdd;
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uint16_t ByteNumber;
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uint16_t add;
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uint16_t length;
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uint16_t temp_cnt;
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int out_len = 0;
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int i;
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uint8_t *pDat;
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uint8_t *pVar;
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uint16_t *pWordVar;
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uint8_t tlv_len = 0;
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// ESP_LOGI(TAG, "ModbusSlaveProcess");
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/* 单元标识符1Byte + 功能码1Byte + 地址2Byte(H、L) */
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if (rxLen < 4)
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{
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ESP_LOGI(TAG, "err:rxlen less 4");
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return 0;
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}
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/* 检查单元标识符，是否是发送给自己的数据，是则进行处理 */
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if ((rxbuf[0] == local) || (rxbuf[0] == 255)) {
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/* CRC校验 */
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if (is_crc != 0) {
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crcData = rxbuf[rxLen - 1] + (rxbuf[rxLen - 2] << 8);
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crcChk = crc16(rxbuf, rxLen - 2);
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if (crcData != crcChk) {
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ESP_LOGI(TAG, "err: crc fault");
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return 0;
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}
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}
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add = ((uint16_t)rxbuf[2] << 8) + rxbuf[3];
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length = (rxbuf[4] << 8) | rxbuf[5];
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// ESP_LOGI(TAG, "add: %d, length: %d", add, length);
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txbuf[0] = rxbuf[0];
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switch (rxbuf[1]) {
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case 0x01:
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/* 读线圈：MBAP + 功能码1Byte + 起始地址2Byte(H、L) + 数量2Byte(H、L) */
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if ((add + length) > gBIT_SIZE) {
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/* 地址错误，应答错误帧：功能码最高位置1 + 错误码1Byte */
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txbuf[1] = 0x81;
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txbuf[2] = 0x02;
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out_len = 3;
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ESP_LOGI(TAG, "err: add + length > gBIT_SIZE");
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break;
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}
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txbuf[1] = 0x01;
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ByteNumber = (length + 7) / 8;
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txbuf[2] = ByteNumber;
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ByteAdd = add >> 3; // add/8
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Offset = add & 0x07; // add%8
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for (i = 0; i < (ByteNumber - 1); i++) {
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txbuf[3 + i] = gBitVar[ByteAdd + i] >> Offset;
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txbuf[3 + i] |= gBitVar[ByteAdd + i + 1] << (8 - Offset);
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}
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txbuf[3 + ByteNumber - 1] = gBitVar[ByteAdd + ByteNumber - 1] >> Offset;
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txbuf[3 + ByteNumber - 1] &= 0xff >> Offset;
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out_len = ByteNumber + 3;
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break;
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case 0x03: /* 读保持寄存器（按字） */
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case 0x04: /* 读输入寄存器 */
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if ((add + length) > gWORD_SIZE) {
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txbuf[1] = 0x80 + rxbuf[1];
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txbuf[2] = 0x02;
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out_len = 3;
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ESP_LOGI(TAG, "err: add + length > gWORD_SIZE");
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break;
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}
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if (length > 512) {
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length = 512;
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}
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if (rxbuf[1] == 4) { /* 读保持寄存器地址从64开始偏移 */
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add += 64;
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}
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txbuf[1] = rxbuf[1];
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ByteNumber = length * 2;
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txbuf[2] = ByteNumber & 0xff;
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pDat = &txbuf[3];
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pWordVar = &gWordVar[add];
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for (i = 0; i < length; i++) {
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*pDat++ = *pWordVar >> 8;
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*pDat++ = *pWordVar & 0xff;
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pWordVar++;
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}
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out_len = ByteNumber + 3;
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break;
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case 0x05: /* 写单个线圈：0x0000为OFF，0xff00为ON */
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if (add >= gBIT_SIZE) {
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txbuf[1] = 0x85;
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txbuf[2] = 0x02;
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out_len = 3;
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ESP_LOGI(TAG, "err: add >= gBIT_SIZE");
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break;
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}
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ByteAdd = add >> 3;
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Offset = add & 0x07;
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if (rxbuf[4] == 0) {
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clrBit(add);
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} else if (rxbuf[4] == 0xff) {
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setBit(add);
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} else {
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ESP_LOGI(TAG, "err: rxbuf[4] != 0x00 && rxbuf[4] != 0xff");
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txbuf[1] = 0x85;
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txbuf[2] = 0x03; /* ILLEGAL DATA VALUE */
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out_len = 3;
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break;
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}
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memcpy(txbuf, rxbuf, 6);
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ModBusBitWriteHook(add, 1);
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out_len = 6;
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break;
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case 0x06: /* 写单个保持寄存器 */
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if (add >= gWORD_SIZE) {
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ESP_LOGI(TAG, "err: add >= gWORD_SIZE");
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txbuf[1] = 0x86;
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txbuf[2] = 0x02;
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out_len = 3;
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break;
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}
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gWordVar[add] = (rxbuf[4] << 8) + rxbuf[5];
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// ESP_LOGI(TAG, "gwordvar[%d]=%d", add, gWordVar[add]);
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memcpy(txbuf, rxbuf, 6);
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ModBusWordWriteHook(add, 1);
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out_len = 6;
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break;
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case 0x0F: /* 写多个线圈 */
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if ((add + length) > gBIT_SIZE) {
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txbuf[1] = 0x8F;
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txbuf[2] = 0x02; // ILLEGAL DATA ADDRESS
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out_len = 3;
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}
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txbuf[1] = 0x0F;
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txbuf[2] = rxbuf[2];
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txbuf[3] = rxbuf[3];
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txbuf[4] = 0;
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txbuf[5] = length & 0xff;
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pDat = rxbuf + 7;
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for (i = 0; i < length; i++) {
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if (*(pDat + (i >> 3)) & (1 << (i & 0x07)))
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setBit(i + add);
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else
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clrBit(i + add);
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}
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ModBusBitWriteHook(add, length);
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out_len = 6;
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break;
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case 0x10: /* 写多个保持寄存器 */
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// ESP_LOGI(TAG, "Write Multiple registers");
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if ((add + length) > gWORD_SIZE) {
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txbuf[1] = 0x90;
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txbuf[2] = 0x02; // ILLEGAL DATA ADDRESS
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crcChk = crc16(txbuf, 3);
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txbuf[3] = crcChk >> 8;
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txbuf[4] = crcChk;
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out_len = 3;
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}
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txbuf[1] = 0x10;
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txbuf[2] = rxbuf[2];
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txbuf[3] = rxbuf[3];
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txbuf[4] = 0;
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txbuf[5] = length & 0xff;
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pDat = rxbuf + 7;
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pWordVar = &gWordVar[add];
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for (i = 0; i < length; i++) {
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*pWordVar++ = (*pDat << 8) | *(pDat + 1);
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pDat += 2;
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}
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ModBusWordWriteHook(add, length);
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out_len = 6;
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break;
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case 33:
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// maybe tlv...
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break;
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} /* switch(rxbuf[1]) */
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if (is_crc && out_len > 0) {
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crcChk = crc16(txbuf, out_len);
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txbuf[out_len++] = crcChk >> 8;
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txbuf[out_len++] = crcChk & 0xff;
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}
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}
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return out_len;
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}
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