📄 canmodbus.c
字号:
/*^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
CAN总线上MODBUS协议
** 文 件 名: CANMODBUS.C
** 版 本: v1.0
** 作 者:
** 日 期: 2008年7月7日
** 描 述: CAN总线MODBUS协议程序，支持01，02 ，03，04，05，06功能码
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^*/
#include "config.h"
//_______________________________________________________________________________________
//
//
// 变量定义
//
//_______________________________________________________________________________________
UINT32 MODBUScanID[]={0x00,0x00,0x00,0x0a}; //canID
UINT8 MODBUSaddr=0x03; //CAN总线上跑的MODBUS协议地址
UINT8 MODBUSsendlen; //CAN总线上发送的字节数
UINT8 MODBUS0area[10]={0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55}; //MODBUS数据0区 线圈 可读可写
UINT8 MODBUS1area[10]={0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55,0x55}; //MODBUS数据1区 开关 只读
UINT16 MODBUS3area[40]={
1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,
0xaa01,0xaa02,0xaa03,0xaa04,0xaa05,0xaa06,0xaa07,0xaa08,0xaa09,0xaa10,
0xaa01,0xaa02,0xaa03,0xaa04,0xaa05,0xaa06,0xaa07,0xaa08,0xaa09,0xaa20
}; //MODBUS数据3区 输入寄存器 只读
UINT16 MODBUS4area[40]={
0xaa01,0xaa02,0xaa03,0xaa04,0xaa05,0xaa06,0xaa07,0xaa08,0xaa09,0xaa10,
0xaa01,0xaa02,0xaa03,0xaa04,0xaa05,0xaa06,0xaa07,0xaa08,0xaa09,0xaa20,
1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20
}; //MODBUS数据4区 保持寄存器 可读可写
UINT8 MODBUSsendbuf[8]; //MODBUS发送报文缓冲区
UINT8 MODBUSrecvbuf[8]; //MODBUS接收报文缓冲区
//MAIN 主程序中的全局变量
extern stcTxBUF CTbuf; //
extern stcRxBUF CRBuf; //
extern UINT8 STBuf;
//_______________________________________________________________________________________
//
//
// 常量定义
//
//_______________________________________________________________________________________
const UINT32 MODBUSbit[]={0x00000001,0x00000003,0x00000007,0x0000000f, //读取线圈\开关位数常量表
0x0000001f,0x0000003f,0x0000007f,0x000000ff,
0x000001ff,0x000003ff,0x000007ff,0x00000fff,
0x00001fff,0x00003fff,0x00007fff,0x0000ffff,
0x0001ffff,0x0003ffff,0x0007ffff,0x000fffff,
0x001fffff,0x003fffff,0x007fffff,0x00ffffff,
0x01ffffff,0x03ffffff,0x07ffffff,0x0fffffff,
0x1fffffff,0x3fffffff,0x7fffffff,0xffffffff};
const UINT8 ONEbit1[]={0x01,0x02,0x04,0x08,0x10,0x20,0x40,0x80};
const UINT8 ONEbit0[]={0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f};
/* CRC 高位字节值表 */
const UINT8 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
};
/* CRC低位字节值表*/
const UINT8 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
} ;
//_______________________________________________________________________________________
// 非全局函数声明
//_______________________________________________________________________________________
UINT32 modbusDataToCan(void);
void CAN_modbuscpy(void);
void command_01_02(UINT8 function, UINT8 *MODBUS_1_2area);
void command_03_04(UINT8 function ,UINT16 *MODBUS_3_4area);
void command_05(void);
void command_06(void);
UINT8 LRC8(UINT8 *auchMsg, UINT8 LCRDataLen);
UINT16 CRC16(UINT8 *pushMsg, UINT8 usDataLen);
/*-------------------------------------------------------------------------------------
---------------------------------------------------------------------------------------
函数名称: CAN_modbuscpy(void)
函数功能: 复制CAN总线上数据域的8字节数据
入口参数: 无
出口参数: 无
---------------------------------------------------------------------------------------
-------------------------------------------------------------------------------------*/
void CAN_modbuscpy(void)
{
UINT8 i;
for(i=0;i<4;i++) //CAN 数据1~4字节
{
MODBUSrecvbuf[i]=*((UINT8 *)&CRBuf.CANRDA+i);
}
for(i=0;i<4;i++) //CAN 数据1~4字节
{
MODBUSrecvbuf[4+i]=*((UINT8 *)&CRBuf.CANRDB+i);
}
}
/*-------------------------------------------------------------------------------------
---------------------------------------------------------------------------------------
函数名称: command（）
函数功能: 对接收报文根据命令的功能码发出相应的应答报文
入口参数: 无
出口参数: 无
---------------------------------------------------------------------------------------
-------------------------------------------------------------------------------------*/
void modbus_slaver(void)
{
UINT16 js_CRC,crc_z;
CAN_modbuscpy();
crc_z=CRC16(MODBUSrecvbuf,6);
js_CRC=MODBUSrecvbuf[6];
js_CRC=(js_CRC<<8)|((UINT8)(MODBUSrecvbuf[7]));
if((MODBUSrecvbuf[0]==MODBUSaddr)&&(js_CRC==crc_z))//是否发给本机,并CRC正确?
{
switch (MODBUSrecvbuf[1])
{
case 0x01: //读取线圈状态
{
command_01_02(1,MODBUS0area);
break;
}
case 0x02: //读取开关状态
{
command_01_02(2,MODBUS1area);
break;
}
case 0x03: //读取保持寄存器
{
command_03_04(3,MODBUS4area);
break;
}
case 0x04: //读输入持寄存器
{
command_03_04(4,MODBUS3area);
break;
}
case 0x05: //强制单线圈
{
command_05();
break;
}
case 0x06: //强制单保持寄存器
{
command_06();
break;
}
default:break;
}
}
}
/*-----------------------------------------------------------------------------------
-------------------------------------------------------------------------------------
函数名称: command_01_02()
函数功能: 作为MODBUS从设备 应答01 02 功能码
入口参数: function 功能码 *MODBUS_1_2area MODBUS区域指针
出口参数: 无
-------------------------------------------------------------------------------------
-----------------------------------------------------------------------------------*/
void command_01_02(UINT8 function, UINT8 *MODBUS_1_2area)
{
UINT16 coiladdr;
UINT16 coilcount;
UINT32 area0buf;
UINT8 kk,jj,mm,nn;
UINT16 crc_1; //2008.7.4
coiladdr=MODBUSrecvbuf[2]; //线圈地址
coiladdr=(coiladdr<<8)|((UINT8)(MODBUSrecvbuf[3]));
coilcount=MODBUSrecvbuf[4]; //线圈数
coilcount=(coilcount<<8)|((UINT8)(MODBUSrecvbuf[5])); //2008.7.4 16:54改正
if( (coiladdr<80)&&(coilcount<25) )
{
MODBUSsendlen=4;
MODBUSsendbuf[0]=MODBUSaddr; //发送本机地址
MODBUSsendbuf[1]=function; //发送MODBUS功能码
kk = coilcount/8; //计算线圈字节数
jj = coilcount%8;
if(jj) //逻辑错误 2008.7.5 15:30改正 !JJ
MODBUSsendbuf[2]=kk+1;
else
MODBUSsendbuf[2]=kk;
mm = coiladdr/8;
nn = coiladdr%8;
area0buf =( (UINT32)*(MODBUS_1_2area+mm) ) + ((UINT32) *(MODBUS_1_2area+mm+1)<<8 ) + (( UINT32)*(MODBUS_1_2area+mm+2)<<16)+(( UINT32)*(MODBUS_1_2area+mm+3)<<24); //修改过 丢数据
area0buf = (area0buf>>nn) & MODBUSbit[coilcount-1]; //取出线圈数
switch(MODBUSsendbuf[2])
{
case 3: { MODBUSsendbuf[5]= ( area0buf>>16) & 0xff; MODBUSsendlen++;}
case 2: { MODBUSsendbuf[4]= (area0buf>>8) & 0xff; MODBUSsendlen++;}
case 1: MODBUSsendbuf[3]= area0buf & 0xff;
default: break;
}
crc_1=CRC16(MODBUSsendbuf,MODBUSsendlen);
MODBUSsendbuf[MODBUSsendlen]=(UINT8)(crc_1>>8); //+CRC_Hi
MODBUSsendlen++;
MODBUSsendbuf[MODBUSsendlen]=(UINT8)crc_1; //+CRC_Low
MODBUSsendlen++; //计算CAN发送的数据长度
modbusDataToCan();
}
else
{
MODBUSsendbuf[0]=MODBUSaddr;
⌨️ 快捷键说明
复制代码
Ctrl + C
搜索代码
Ctrl + F
全屏模式
F11
切换主题
Ctrl + Shift + D
显示快捷键
?
增大字号
Ctrl + =
减小字号
Ctrl + -