STM32+FreeModbus HAL库移植 学习记录

• 下载源码，源码地址：https://github.com/cwalter-at/freemodbus
• 将所需文件放在同一文件夹中
• 新建HAL库项目：
  • 定时器周期设为50us；使能中断

• 设置串口；开启串口中断    

•        设置中断优先级，Modbus优先级设置最高防止时序被破坏；不生成中断处理函数，自己编写

• 添加Modbus文件

• 修改portSerial.c文件：

/*
 * FreeModbus Libary: BARE Port
 * Copyright (C) 2006 Christian Walter <wolti@sil.at>
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 * File: $Id$
 */

#include "port.h"
#include "usart.h"

/* ----------------------- Modbus includes ----------------------------------*/
#include "mb.h"
#include "mbport.h"

/* ----------------------- static functions ---------------------------------*/
static void prvvUARTTxReadyISR( void );
static void prvvUARTRxISR( void );

/* ----------------------- Start implementation -----------------------------*/
void
vMBPortSerialEnable( BOOL xRxEnable, BOOL xTxEnable )
{
    /* If xRXEnable enable serial receive interrupts. If xTxENable enable
     * transmitter empty interrupts.
     */
     //STM32串口接收中断使能
	if(xRxEnable == TRUE)
	{
		//UART中断使能
		__HAL_UART_ENABLE_IT(&huart3,UART_IT_RXNE );
	}
	else
	{
	  //禁止接收和接收中断
		__HAL_UART_DISABLE_IT(&huart3,UART_IT_RXNE );
	}
  //STM32串口发送中断使能
	if(xTxEnable == TRUE)
	{
	  //使能发送中断
		__HAL_UART_ENABLE_IT(&huart3, UART_IT_TC);
	}
	else
	{
    //禁止发送中断
		__HAL_UART_DISABLE_IT(&huart3, UART_IT_TC);
	}
}

BOOL
xMBPortSerialInit( UCHAR ucPORT, ULONG ulBaudRate, UCHAR ucDataBits, eMBParity eParity )
{
	huart3.Instance = USART3;
	huart3.Init.BaudRate = ulBaudRate;
	huart3.Init.StopBits = UART_STOPBITS_1;
	huart3.Init.Parity = UART_PARITY_NONE;
	huart3.Init.Mode = UART_MODE_TX_RX;
	huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
	huart3.Init.OverSampling = UART_OVERSAMPLING_16;

	switch(eParity)
    {
    // 奇校验
    case MB_PAR_ODD:
        huart3.Init.Parity = UART_PARITY_ODD;
        huart3.Init.WordLength = UART_WORDLENGTH_9B;			// 带奇偶校验数据位为9bits
        break;
 
    // 偶校验
    case MB_PAR_EVEN:
        huart3.Init.Parity = UART_PARITY_EVEN;
        huart3.Init.WordLength = UART_WORDLENGTH_9B;			// 带奇偶校验数据位为9bits
        break;
 
    // 无校验
    default:
        huart3.Init.Parity = UART_PARITY_NONE;
        huart3.Init.WordLength = UART_WORDLENGTH_8B;			// 无奇偶校验数据位为8bits
        break;
    }
	HAL_UART_Init(&huart3);
	

    return TRUE;
}

BOOL
xMBPortSerialPutByte( CHAR ucByte )
{
    /* Put a byte in the UARTs transmit buffer. This function is called
     * by the protocol stack if pxMBFrameCBTransmitterEmpty( ) has been
     * called. */

	USART3->DR = ucByte;
	
    return TRUE;
}

BOOL
xMBPortSerialGetByte( CHAR * pucByte )
{
    /* Return the byte in the UARTs receive buffer. This function is called
     * by the protocol stack after pxMBFrameCBByteReceived( ) has been called.
     */
     	
	*pucByte = (USART3->DR & (uint16_t)0x00ff);
    return TRUE;
}

/* Create an interrupt handler for the transmit buffer empty interrupt
 * (or an equivalent) for your target processor. This function should then
 * call pxMBFrameCBTransmitterEmpty( ) which tells the protocol stack that
 * a new character can be sent. The protocol stack will then call 
 * xMBPortSerialPutByte( ) to send the character.
 */
static void prvvUARTTxReadyISR( void )
{
    pxMBFrameCBTransmitterEmpty(  );
}

/* Create an interrupt handler for the receive interrupt for your target
 * processor. This function should then call pxMBFrameCBByteReceived( ). The
 * protocol stack will then call xMBPortSerialGetByte( ) to retrieve the
 * character.
 */
static void prvvUARTRxISR( void )
{
    pxMBFrameCBByteReceived(  );
}

void USART3_IRQHandler(void)
{ 
	if(__HAL_UART_GET_FLAG( &huart3, UART_FLAG_RXNE ) != RESET)
	{		
		prvvUARTRxISR();
		__HAL_TIM_CLEAR_FLAG(&huart3,UART_FLAG_RXNE);
		
	}
	if(__HAL_UART_GET_FLAG( &huart3, UART_FLAG_TC ) != RESET)
	{
		prvvUARTTxReadyISR();
		__HAL_TIM_CLEAR_FLAG(&huart3,UART_FLAG_TC);
		
	}
}

修改porttimer.c文件

/*
 * FreeModbus Libary: BARE Port
 * Copyright (C) 2006 Christian Walter <wolti@sil.at>
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 * File: $Id$
 */

/* ----------------------- Platform includes --------------------------------*/
#include "port.h"

/* ----------------------- Modbus includes ----------------------------------*/
#include "mb.h"
#include "mbport.h"
#include "tim.h"
/* ----------------------- static functions ---------------------------------*/
static void prvvTIMERExpiredISR( void );

/* ----------------------- Start implementation -----------------------------*/
BOOL
xMBPortTimersInit( USHORT usTim1Timerout50us )
{
	TIM_ClockConfigTypeDef sClockSourceConfig = {0};
	TIM_MasterConfigTypeDef sMasterConfig = {0};
	
	
	htim4.Instance = TIM4;
	htim4.Init.Prescaler = 3600-1;
	htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
	htim4.Init.Period = usTim1Timerout50us-1;
	htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
	htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
	if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
	{
	  Error_Handler();
	}
	sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
	if (HAL_TIM_ConfigClockSource(&htim4, &sClockSourceConfig) != HAL_OK)
	{
	  Error_Handler();
	}
	sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
	sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
	if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) != HAL_OK)
	{
	Error_Handler();
	}

	
	__HAL_TIM_CLEAR_FLAG(&htim4, TIM_FLAG_UPDATE);			  // 先清除一下定时器的中断标记,防止使能中断后直接触发中断
	__HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE);				  // 使能定时器更新中断
	
	return TRUE;

}


inline void
vMBPortTimersEnable(  )
{
    /* Enable the timer with the timeout passed to xMBPortTimersInit( ) */

	__HAL_TIM_SET_COUNTER(&htim4, 0);		// 清空计数器
	HAL_TIM_Base_Start_IT(&htim4);
}

inline void
vMBPortTimersDisable(  )
{
    /* Disable any pending timers. */
	HAL_TIM_Base_Stop_IT(&htim4);

}

/* Create an ISR which is called whenever the timer has expired. This function
 * must then call pxMBPortCBTimerExpired( ) to notify the protocol stack that
 * the timer has expired.
 */
static void prvvTIMERExpiredISR( void )
{
    ( void )pxMBPortCBTimerExpired(  );
}

/// 定时器4中断服务程序
void TIM4_IRQHandler(void)
{
    if(__HAL_TIM_GET_FLAG(&htim4, TIM_FLAG_UPDATE))			// 更新中断标记被置位
    {
        __HAL_TIM_CLEAR_FLAG(&htim4, TIM_FLAG_UPDATE);		// 清除中断标记
        prvvTIMERExpiredISR();								// 通知modbus3.5个字符等待时间到
    }
}

新建一个port.c文件，添加代码

#include "mb.h"
#include "mbport.h"


// 十路输入寄存器
#define REG_INPUT_SIZE  10
uint16_t REG_INPUT_BUF[REG_INPUT_SIZE];


// 十路保持寄存器
#define REG_HOLD_SIZE   10
uint16_t REG_HOLD_BUF[REG_HOLD_SIZE];


// 十路线圈
#define REG_COILS_SIZE 10
uint8_t REG_COILS_BUF[REG_COILS_SIZE] = {1, 1, 1, 1, 0, 0, 0, 0, 1, 1};


// 十路离散量
#define REG_DISC_SIZE  10
uint8_t REG_DISC_BUF[REG_DISC_SIZE] = {1,1,1,1,0,0,0,0,1,1};


/// CMD4命令处理回调函数
eMBErrorCode eMBRegInputCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs )
{
    USHORT usRegIndex = usAddress - 1;

    // 非法检测
    if((usRegIndex + usNRegs) > REG_INPUT_SIZE)
    {
        return MB_ENOREG;
    }

    // 循环读取
    while( usNRegs > 0 )
    {
        *pucRegBuffer++ = ( unsigned char )( REG_INPUT_BUF[usRegIndex] >> 8 );
        *pucRegBuffer++ = ( unsigned char )( REG_INPUT_BUF[usRegIndex] & 0xFF );
        usRegIndex++;
        usNRegs--;
    }

    // 模拟输入寄存器被改变
//    for(usRegIndex = 0; usRegIndex < REG_INPUT_SIZE; usRegIndex++)
//    {
//        REG_INPUT_BUF[usRegIndex]++;
//    }

    return MB_ENOERR;
}

/// CMD6、3、16命令处理回调函数
eMBErrorCode eMBRegHoldingCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode )
{
    USHORT usRegIndex = usAddress - 1;

    // 非法检测
    if((usRegIndex + usNRegs) > REG_HOLD_SIZE)
    {
        return MB_ENOREG;
    }

    // 写寄存器
    if(eMode == MB_REG_WRITE)
    {
        while( usNRegs > 0 )
        {
            REG_HOLD_BUF[usRegIndex] = (pucRegBuffer[0] << 8) | pucRegBuffer[1];
            pucRegBuffer += 2;
            usRegIndex++;
            usNRegs--;
        }
    }

    // 读寄存器
    else
    {
        while( usNRegs > 0 )
        {
            *pucRegBuffer++ = ( unsigned char )( REG_HOLD_BUF[usRegIndex] >> 8 );
            *pucRegBuffer++ = ( unsigned char )( REG_HOLD_BUF[usRegIndex] & 0xFF );
            usRegIndex++;
            usNRegs--;
        }
    }

    return MB_ENOERR;
}

/// CMD1、5、15命令处理回调函数
eMBErrorCode eMBRegCoilsCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNCoils, eMBRegisterMode eMode )
{
    USHORT usRegIndex   = usAddress - 1;
    UCHAR  ucBits       = 0;
    UCHAR  ucState      = 0;
    UCHAR  ucLoops      = 0;

    // 非法检测
    if((usRegIndex + usNCoils) > REG_COILS_SIZE)
    {
        return MB_ENOREG;
    }

    if(eMode == MB_REG_WRITE)
    {
        ucLoops = (usNCoils - 1) / 8 + 1;
        while(ucLoops != 0)
        {
            ucState = *pucRegBuffer++;
            ucBits  = 0;
            while(usNCoils != 0 && ucBits < 8)
            {
                REG_COILS_BUF[usRegIndex++] = (ucState >> ucBits) & 0X01;
                usNCoils--;
                ucBits++;
            }
            ucLoops--;
        }
    }
    else
    {
        ucLoops = (usNCoils - 1) / 8 + 1;
        while(ucLoops != 0)
        {
            ucState = 0;
            ucBits  = 0;
            while(usNCoils != 0 && ucBits < 8)
            {
                if(REG_COILS_BUF[usRegIndex])
                {
                    ucState |= (1 << ucBits);
                }
                usNCoils--;
                usRegIndex++;
                ucBits++;
            }
            *pucRegBuffer++ = ucState;
            ucLoops--;
        }
    }

    return MB_ENOERR;
}

/// CMD2命令处理回调函数
eMBErrorCode eMBRegDiscreteCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNDiscrete )
{
    USHORT usRegIndex   = usAddress - 1;
    UCHAR  ucBits       = 0;
    UCHAR  ucState      = 0;
    UCHAR  ucLoops      = 0;

    // 非法检测
    if((usRegIndex + usNDiscrete) > REG_DISC_SIZE)
    {
        return MB_ENOREG;
    }

    ucLoops = (usNDiscrete - 1) / 8 + 1;
    while(ucLoops != 0)
    {
        ucState = 0;
        ucBits  = 0;
        while(usNDiscrete != 0 && ucBits < 8)
        {
            if(REG_DISC_BUF[usRegIndex])
            {
                ucState |= (1 << ucBits);
            }
            usNDiscrete--;
            usRegIndex++;
            ucBits++;
        }
        *pucRegBuffer++ = ucState;
        ucLoops--;
    }

    // 模拟离散量输入被改变
//    for(usRegIndex = 0; usRegIndex < REG_DISC_SIZE; usRegIndex++)
//    {
//        REG_DISC_BUF[usRegIndex] = !REG_DISC_BUF[usRegIndex];
//    }

    return MB_ENOERR;
}

• 修改mbconfig.h，不需要ACSII模式
• 
• 修改mbrtu.c文件；否则在hal库通讯有问题
• 
• 解决编译错误：

KeilMDK编译错误Error: L6218E: Undefined symbol __aeabi_assert (referred from xxx.o)._keil编译出现error-CSDN博客

• main函数添加以下代码：

    eMBInit(MB_RTU, 0x01, 0, 115200, MB_PAR_NONE);
    eMBEnable();   
	for(;;)
	{
		eMBPoll();
	}