CANoe CAPL Modbus协议

最新推荐文章于 2024-08-14 14:19:06 发布

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最新推荐文章于 2024-08-14 14:19:06 发布

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分类专栏： CAPL Modbus 文章标签： c# .net 数据库

本文链接：https://blog.csdn.net/qq_38545573/article/details/133871247

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CANoe 与其他设备进行交互时，会用到各种各样的协议；Mobus就是在其中最常见的一种；

但是CAPL没有现成的库可以调用，因此，在研究modbus的基础上，编写了基于capl的Modbus协议，实现了写单寄存器、写多寄存器、读多寄存器的功能可以方便地对被控设备进行调试；

capl的Modbus的实现协议以及测试代码如下：

/*@!Encoding:936*/
variables
{


int ModBus232_PortNum = 2; //端口号
word ModBus232_BaudRate = 19200; //端口号



byte Rx_Buf[512];
byte Tx_Buf[512];
byte tmp_Rx_Buf;
word RxCount = 0;
word TxCount = 0;
word crc = 0;
word crc_check=0;
word i;

byte uchCRCHi = 0xFF;
byte uchCRCLo = 0xFF;
byte index0=0;
word uIndex;

int rx_flag=0;
// CRC 高位字节值表
byte 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
} ;
// CRC 低位字节值表
byte 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
};

/* 私有类型定义 --------------------------------------------------------------*/
struct REG_DATA
{

word DATA_01H;
word DATA_02H;
word DATA_03H;

   word DATA_04H;
   word DATA_05H;
   word DATA_06H;
   word DATA_10H[64];

}reg_value;

byte MB_Recevive_Buffer[2000];
int MB_Recevive_Size=2000;

byte MB_SLAVEADDR_0=3;
byte MB_SLAVEADDR_1=4;
word HoldingReg=0;

word Receive_Data_Result[10][100];

int Read_Slave_ID=0;// 区分第一/2块板卡

//void MB_ReadHoldingReg_03H(byte _addr, word _reg, word _num)
int Read_Start_Reg_Num=0;
int Read_Reg_Num=0;
int Is_RS232_InUse=0;

}
/**
*函数功能： Modbus CRC16 校验计算函数
*输入参数
*返回值
*说明
*/
word MB_CRC16(byte pushMsg[],byte usDataLen)
{
uchCRCHi = 0xFF;
uchCRCLo = 0xFF;

//uIndex=0;
index0=0;
while(usDataLen--)
{
uIndex = uchCRCLo ^ pushMsg[index0];
uchCRCLo = uchCRCHi^auchCRCHi[uIndex];
uchCRCHi = auchCRCLo[uIndex];
index0++;
}
return (uchCRCHi<<8|uchCRCLo);
}

/**
* 函数功能: 写N个保持寄存器(HoldingRegister)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待写入的寄存器数量,_databuf:待写入的寄存器数据
* 返回值: 无
* 说明: 填充数据发送缓存区,然后发送._databuf的长度需 >= _num*2
*/
void MB_WriteNumHoldingReg_10H(byte _addr, word _reg, word _num,word _databuf[])
{
   TxCount = 0;
crc = 0;
   Tx_Buf[TxCount++] = _addr;       /* 从站地址 */
   Tx_Buf[TxCount++] = 0x10;       /* 功能码 */
   Tx_Buf[TxCount++] = _reg >> 8;   /* 寄存器地址高字节 */
   Tx_Buf[TxCount++] = _reg;       /* 寄存器地址低字节 */
   Tx_Buf[TxCount++] = _num >> 8;   /* 寄存器(16bits)个数高字节 */
   Tx_Buf[TxCount++] = _num;       /* 低字节 */
Tx_Buf[TxCount++] = _num*2;       /* 数据个数 */

for (i = 0; i < _num; i++)
{
       Tx_Buf[TxCount++] = (_databuf[i]>>8)&0xff;
       Tx_Buf[TxCount++] = (byte)_databuf[i]&0xff;
   }
   crc = MB_CRC16(Tx_Buf,TxCount);
Tx_Buf[TxCount++] = crc;   /* crc 低字节 */
   Tx_Buf[TxCount++] = crc>>8;       /* crc 高字节 */

ModeBusSend(ModBus232_PortNum,Tx_Buf,TxCount);

}

void ModeBusSend( dword ModBus232_PortNum, byte Tx_Buf[], dword TxCount )
{
while(Is_RS232_InUse==1)
{

}
if(Is_RS232_InUse==0)
{
Is_RS232_InUse=1;
if(rs232Send(ModBus232_PortNum,Tx_Buf,TxCount)==1)
{
write("232Send Successlly");
}
else
{
write("232Send Failed");
}
Is_RS232_InUse=0;
}

}
// 2 -3

//功能码06 写单个寄存器
// _addr 地址 , _reg 寄存器 , _data 数据值
void MB_WriteHoldingReg_06H(byte _addr, word _reg, word _data)
{
TxCount=0;
// crc = 0;
   Tx_Buf[TxCount++] = _addr;
   Tx_Buf[TxCount++] = 0x06;
   Tx_Buf[TxCount++] = _reg >> 8;
   Tx_Buf[TxCount++] = _reg;
   Tx_Buf[TxCount++] = _data >> 8;
   Tx_Buf[TxCount++] = _data;
   crc = MB_CRC16(Tx_Buf,TxCount);
Tx_Buf[TxCount++] = crc;
   Tx_Buf[TxCount++] = crc>>8;

ModeBusSend(ModBus232_PortNum,Tx_Buf,TxCount);
// if(rs232Send(ModBus232_PortNum,Tx_Buf,TxCount)==1)
// {
// write("232Send Successlly");
// }
// else
// {
// write("232Send Failed");
// }
}

/**
* 函数功能: 读保持寄存器(HoldingRegister)
* 输入参数: _addr:从站地址,_reg:寄存器地址,_num:待读取的寄存器数量
* 返回值: 无
* 说明: 填充数据发送缓存区,然后发送
*/
void MB_ReadHoldingReg_03H(byte _addr, word _reg, word _num)
{
rx_flag=2;
Read_Slave_ID=_addr;
Read_Start_Reg_Num=_reg;
Read_Reg_Num=_num;

   TxCount = 0;
crc = 0;
   Tx_Buf[TxCount++] = _addr;       /* 从站地址 */
   Tx_Buf[TxCount++] = 0x03;       /* 功能码 */
   Tx_Buf[TxCount++] = _reg >> 8;   /* 寄存器地址高字节 */
   Tx_Buf[TxCount++] = _reg;       /* 寄存器地址低字节 */
   Tx_Buf[TxCount++] = _num >> 8;   /* 寄存器(16bits)个数高字节 */
   Tx_Buf[TxCount++] = _num;       /* 低字节 */

   crc = MB_CRC16(Tx_Buf,TxCount);
Tx_Buf[TxCount++] = crc;   /* crc 低字节 */
   Tx_Buf[TxCount++] = crc>>8;       /* crc 高字节 */

ModeBusSend(ModBus232_PortNum,Tx_Buf,TxCount);
// if(rs232Send(ModBus232_PortNum,Tx_Buf,TxCount)==1)
// {
// write("232Send Successlly");
// rx_flag=2;
// }
// else
// {
// write("232Send Failed");
// }
}

on start
{

   reg_value.DATA_06H=0x12; //写入单个保持寄存器数据

   //以下为4个保持寄存器数据
   reg_value.DATA_10H[0]=0x12;
   reg_value.DATA_10H[1]=0x65;
   reg_value.DATA_10H[2]=0x13;
   reg_value.DATA_10H[3]=0x76;


if(rs232Open(ModBus232_PortNum)==1 && rs232Configure(ModBus232_PortNum,ModBus232_BaudRate,8,1,0)==1)
{
write("Modbus 端口打开成功");
if ( 1==RS232Receive(ModBus232_PortNum,MB_Recevive_Buffer,MB_Recevive_Size) )
{
write("Modbus 端口接受打开");
}

}
else
{
write("Modbus 端口打开失败");
}


}
on preStop
{
if (1==RS232Close(ModBus232_PortNum))
{
write("Modbus 端口关闭成功");
}
else
{
write("Modbus 端口关闭失败");

}

}

RS232OnReceive( dword port, byte buffer[], dword number )
{
//rx_flag 不同的接收，待扩展
switch(rx_flag)
{
case 1:
//write("myVar is 1");
break;

case 2://MB_ReadHoldingReg_03H
{


crc_check = ( (buffer[number-1]<<8) | buffer[number-2] );
/* CRC 校验正确 */
if(crc_check == MB_CRC16(buffer,number-2))
{
// write("myVar is %d",number);

for (i = 0; i < Read_Reg_Num; i++)
{
   Receive_Data_Result[Read_Slave_ID][Read_Start_Reg_Num+i]=(buffer[3+2*i]<<8)+buffer[4+2*i];
   }


for (i = 0; i < Read_Reg_Num; i++)
{
Write("读取的数据值是 %d",Receive_Data_Result[Read_Slave_ID][Read_Start_Reg_Num+i]);
   }

}
}
break;

case 3:
//write("myVar is 3");
break;

default: break;
//write("myVar is not 1, 2 or 3");
}
}

on key 'a'
{

reg_value.DATA_10H[0]=1;
   reg_value.DATA_10H[1]=2;
   reg_value.DATA_10H[2]=3;
   reg_value.DATA_10H[3]=4;
MB_WriteNumHoldingReg_10H(MB_SLAVEADDR_0, HoldingReg,4,reg_value.DATA_10H);
}
on key 'q'
{

reg_value.DATA_10H[0]=11;
   reg_value.DATA_10H[1]=12;
   reg_value.DATA_10H[2]=13;
   reg_value.DATA_10H[3]=14;
MB_WriteNumHoldingReg_10H(MB_SLAVEADDR_0, HoldingReg,4,reg_value.DATA_10H);
}

on key 'b'
{
MB_WriteHoldingReg_06H(MB_SLAVEADDR_0, HoldingReg, 1000);
}
on key 'c'
{
MB_WriteHoldingReg_06H(MB_SLAVEADDR_0, HoldingReg, 1);
}
on key 'd'
{
MB_WriteHoldingReg_06H(MB_SLAVEADDR_1, HoldingReg, 1000);
}
on key 'e'
{
MB_WriteHoldingReg_06H(MB_SLAVEADDR_1, HoldingReg, 1);

}
on key 't'
{
MB_ReadHoldingReg_03H(MB_SLAVEADDR_1, HoldingReg, 3);
}
on key 'g'
{

MB_ReadHoldingReg_03H(MB_SLAVEADDR_1, HoldingReg, 4);
}