STM32F1 USART DMA Modbus Master的实现

本文主要描述使用STM32F1 USART2的DMA方式来实现Modbus主机程序。

首先简单了解下Modbus协议，在https://modbus.org/docs/Modbus_over_serial_line_V1_02.pdf（不知道为啥网站有时候打不开）MODBUS官网上下载到了Modbus_over_serial_line_V1_02.pdf文档作为理论指导。

MODBUS协议简介：MODBUS串行总线协议是主从协议。一个主机连接到总线，一个或多个（最多247）从机也同样连接到这个总线上。MODBUS通讯通常是由主机发起的。从机从不主动向总线发数据除非接收到主机的请求。从机相互之间不通讯。在同一时刻主机只进行一次MODBUS通讯。

MODBUS地址规则：从机地址是从1到247。

MODBUS数据帧描述：Modbus Serial Line PDU包含了地址段，功能码，数据段和CRC校验码。

Modbus主机给某个从机发送指令，转而进入计时状态，并等待从机回复，如果超出预定的时间从机未回复即为通讯超时；如果从机在预定的时间回复数据，主机处理从机回复的消息。

以上内容，是对Modbus的基础的认识，想要了解更多更相信的内容，还需要深入研究协议文档。

STM32F1使用USART2的DMA方式来实现Modbus主机，可以方便的实现。

关于STM32F1 USART2 DMA方式的配置，可以参考《STM32F1 USART2 DMA查询方式收发数据》

Modbus协议基于串口通讯基础上的封装。贴出我的modbus的代码

z_modbus_usart2.c

#ifndef __Z_MODBUS_USART2_H
#define __Z_MODBUS_USART2_H
#include "z_modbus_usart2.h"
#endif


/*
* author : niyl
* create time : 2019-05-13
* update time : 2019-05-13
*
* function : modbus master write and read
*
* params : const u16 BUF_LEN, u8 *buff_send, u8 len_send_buf, u8 *recv_buf, u16 *recv_len, const u16 int_timeout_ms, const u8 char_timeout_ms
*
* return :  0 - success ;
*			1 - int_timeout ;
*			2 - overflow recv buf limit ;
*			3 - length of send_buf is too short; 
*			5 - recv package is less than modbus data's min length(4); 
*			6 - recv package is greater than modbus data's max length(252);
*			7 - slave device addr not respect modbus(0x01 - 0xf7);
*			8 - function code not respect modbus(01 02 03 04 05 06 10 13 15 16 17);
*			9 - crc check failed;
*
*/

u8 modbus_master_write_and_read(const u16 BUF_LEN, u8 *buff_send, u8 len_send_buf, u8 *recv_buf, u16 *recv_len, const u16 int_timeout_ms, const u8 char_timeout_ms)
{
	u8 buf[256] = {0};
	int crc;
	u16 tmp_recv_len;
	u8 r_flag;
	u16 ms_left;
	
	*recv_len = 0;
	if(len_send_buf < 5)// addr 1 byte, function code 1 byte, data x bytes, crc 2 bytes
	{
		return 3;
	}
	memcpy(buf,buff_send, len_send_buf);
	crc = getCRC16(buf, len_send_buf);
	buf[len_send_buf] = (char)(crc >> 8);
	buf[len_send_buf + 1] = (char)(crc);
	func_usart2_dma_send_bytes(buf, len_send_buf + 2);
	for(ms_left = int_timeout_ms; ms_left > 0; ms_left--)
	{
		r_flag = func_usart2_dma_recv_bytes(recv_buf, &tmp_recv_len);
		if(r_flag == 0 || r_flag == 2)
		{
			break;
		}
		delay_ms_freertos(1);
	}	
	*recv_len = tmp_recv_len;
	if(r_flag != 0)
	{
		return r_flag;// 1 or 2
	}
	if(tmp_recv_len < 5)//min length (addr 1 byte, function code 1 byte, crc 2 bytes)
	{
		return 5;
	}
	if(tmp_recv_len > 220)//max length (addr 1 byte, function code 1 byte, crc 2bytes, data length not greater than 252)
	{
		return 6;
	}
	if(recv_buf[0] > 0xf7 || recv_buf[0] < 0x01)// addr
	{
		return 7;
	}
	if(recv_buf[1] > 0x11 || recv_buf[1] < 0x01)//function code
	{
		return 8;
	}
	crc = getCRC16(recv_buf, tmp_recv_len - 2);
	if((u8)(crc) != recv_buf[tmp_recv_len-1] || (u8)(crc>>8) != recv_buf[tmp_recv_len-2])
	{
		return 9;
	}
	return 0;
}

z_modbus_usart2.h

#ifndef __STM32F10X_H
#define __STM32F10X_H
#include "stm32f10x.h"
#endif

#ifndef __Z_MODBUS_CRC16_H
#define __Z_MODBUS_CRC16_H
#include "z_modbus_crc16.h"
#endif

#ifndef __Z_HARDWARE_USART2_H
#define __Z_HARDWARE_USART2_H
#include "z_hardware_usart2.h"
#endif

#ifndef __Z_UTIL_TIME_H
#define __Z_UTIL_TIME_H
#include "z_util_time.h"
#endif

u8 modbus_master_write_and_read(const u16 BUF_LEN, u8 *buff_send, u8 len_send_buf, u8 *recv_buf, u16 *recv_len, const u16 int_timeout_ms, const u8 char_timeout_ms);

z_modbus_crc16.c

#ifndef __CRC16_MODBUS_H
#define __CRC16_MODBUS_H
#include "z_modbus_crc16.h"
#endif

 
const unsigned char 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 
};
 
 
/* Table of CRC values for high–order byte */  
const unsigned char 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 
};
 
 
unsigned int getCRC16(unsigned char array[],unsigned int length)
{
    unsigned char uchCRCHi = 0xFF ; /* 初始化高字节*/ 
    unsigned char uchCRCLo = 0xFF ; /* 初始化低字节*/ 
    unsigned char uIndex ; /*CRC表索引*/
    int k = 0;
    while(length--)
    {
        uIndex=uchCRCHi^array[k++];
        uchCRCHi = uchCRCLo^auchCRCHi[uIndex];
        uchCRCLo = auchCRCLo[uIndex];
    }
    return ((uchCRCHi<<8)|uchCRCLo);
}
 
 
unsigned int UART_CRC16_Work(unsigned char *CRC_Buf,unsigned int CRC_Leni)
{
    unsigned int i,j;
    unsigned int CRC_Sumx;
    CRC_Sumx=0xFFFF;
    for(i=0;i<CRC_Leni;i++)
    {
        CRC_Sumx^=*(CRC_Buf+i);
        for(j=0;j<8;j++)
        {
            if(CRC_Sumx & 0x01)
            {
                CRC_Sumx>>=1;
                CRC_Sumx^=0xA001;
            }else{
                CRC_Sumx>>=1;
            }
        }   
    } 
    return (CRC_Sumx);  
}

z_modbus_crc16.h

#ifndef __STDIO_H
#define __STDIO_H
#include <stdio.h>
#endif

#ifndef __STRING_H
#define __STRING_H
#include <string.h>
#endif

unsigned int getCRC16(unsigned char array[],unsigned int length);

Modbus Master的实现过程是参照MODBUS协议文档来进行的，每个人对协议文档的理解不同，可以编码出不同的程序。以上贴出的程序也是在项目中实践过的，仅供参考。