?? modbus16.c

?? sci_loopback_interrupts(Modbus),基于TMS320F2812 DSP芯片的Modbus串口通訊程序
?? C
?? 第 1 頁 / 共 5 頁
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////////////////////////////////////////////////////
//PROJECT CODE:ModbusSlave
//CREATE DATE:2006.2.6
//CREATED BY:軟起動部：彭勃
//FUNCTION:Modbus從機通訊
//OTHERS:
////////////////////////////////////////////////////
#include "DSP281x_Device.h"     // DSP281x Headerfile Include File

/**************************************************
宏定義
**************************************************/
#define Local                   1       //slave adress

#define MaxI                     32       //MaxI<=128
#define MaxQ                     32       //MaxQ<=128
#define MaxAI                    32       //MaxAI<=32
#define MaxHold                  32       //MaxHold<=32

#define ILLEGAL_FUNCTION         0x01
#define ILLEGAL_DATA_ADDRESS     0x02
#define ILLEGAL_DATA_VALUE       0x03
#define SLAVE_DEVICE_FAILURE     0x04
#define ACKNOWLEDGE              0x05
#define SLAVE_DEVICE_BUSY        0x06

#define SLEEP_TIME               71428
#define TIME_OUT                 21428571


/**************************************************
//變量定義
***************************************************/
Uint32 Cputime_Start;
Uint32 Cputime_End;
Uint16 TxFifo_Time;
Uint16 SdataA[80];    // Send data for SCI-A
Uint16 RdataA[80];    // Received data for SCI-A
Uint16 RdataA_Num;
Uint16 SdataA_Num;

Uint16 nData0Test[32];
Uint16 nData1Test[32];
Uint16 nData3Test[32];
Uint16 nData4Test[32];


/* CRC 高位字節值表 */ 
const Uint16 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低位字節值表*/ 
const Uint16 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 
} ;

/***************************************************
//函數定義
*****************************************************/
void ModbusSlave_init(void);
void ResolveModbus(void);
void sciaRx();
void sciaTx();
void TimeInterrupt();

void ReadCoil(void);                 //功能1
void ReadInputState(void);           //功能2
void ReadHoldRegisters(void);        //功能3
void ReadInputRegisters(void);       //功能4
void ForceSingleCoil(void);          //功能5
void PresetSingleRegister(void);     //功能6
void ForceMultipleCoils(void);       //功能15
void PresetMultipleRegisters(void);  //功能16
void MaskWrite4XRegister(void);      //功能22

void GetRegisterVal(Uint16 Addr,Uint16 *ReadData);
void SetRegisterVal(Uint16 Addr,Uint16 TempData);
void GetCoilVal(Uint16 Addr,Uint16 *ReadState);
void SetCoilVal(Uint16 Addr,Uint16 TempData);
void GetInputVal(Uint16 Addr,Uint16 *ReadState);
void GetInputRegisterVal(Uint16 Addr,Uint16 *ReadData);
Uint16 MarkCompute(Uint16 DataSrc,Uint16 DataAnd,Uint16 DataOr);

void SciaTx_Response(void);
void ModbusExcep(Uint16 FunctionCode,Uint16 ExceptionCode);
Uint16 AddrCheck(Uint16 AddrStart,Uint16 Num,Uint16 AddrMax);
Uint16 Crc16(Uint16 *puchMsg, Uint16 usDataLen); 

/********************************************************
//函數實現
********************************************************/
void ModbusSlave_init(void)
{
	Uint16 i;
    for(i = 0; i<80; i++)
    {
       SdataA[i] = 0;
	   RdataA[i] = 0;
    } 
	   
 	RdataA_Num=0;
 	SdataA_Num=0;
 	Cputime_Start=0;
 	Cputime_End=0;
 	TxFifo_Time=0;


	for(i=0;i<128;i++)
		nData0Test[i]=1;

	for(i=0;i<128;i++)
		nData1Test[i]=1;
    
	for(i=0;i<32;i++)
    	nData3Test[i]=i;

	for(i=0;i<32;i++)
    	nData4Test[i]=i;

//SCI寄存器初始化
	SciaRegs.SCICCR.all =0x0087;   // 2 stop bit,  No loopback 
                                  // No parity,8 char bits,
                                  // async mode, idle-line protocol
    SciaRegs.SCICTL1.all =0x0047;  // enable TX, RX, internal SCICLK, RX ERR, SLEEP
                                  // disable TXWAKE
    SciaRegs.SCICTL2.bit.TXINTENA =1;
    SciaRegs.SCICTL2.bit.RXBKINTENA =1;
    SciaRegs.SCIHBAUD = 0x0001;    //9600
    SciaRegs.SCILBAUD = 0x00E7;
    SciaRegs.SCIFFTX.all=0xC028;
    SciaRegs.SCIFFRX.all=0x0021;
    SciaRegs.SCIFFCT.all=0x00;
    SciaRegs.SCICTL1.all =0x0023;     // Relinquish SCI from Reset 
    SciaRegs.SCIFFTX.bit.TXFIFOXRESET=1;
    SciaRegs.SCIFFRX.bit.RXFIFORESET=1;
}

void ResolveModbus(void)
{
    Uint16 CRCCheck;
	CRCCheck=0;

	switch(RdataA[1])  //判斷功能碼	
	{
		case 1://讀取線圈狀態
			
			CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				ReadCoil();	
			}
			else
			{//CRC校驗不正確

			}
			break;

		case 2://讀取輸入狀態
    		CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				ReadInputState();	
			}
			else
			{//CRC校驗不正確

			}

			break;

		case 3://讀保持存儲器的內容
			CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				ReadHoldRegisters();
			}
			else
			{//CRC校驗不正確

			}		       
			break;

		case 4://讀輸入寄存器的內容
			CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				ReadInputRegisters();	
			}
			else
			{//CRC校驗不正確

			}
			break;

		case 5://設置單個繼電器
			CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				ForceSingleCoil();	
			}
			else
			{//CRC校驗不正確

			}
			break;

		case 6://設置單個保持寄存器
			CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				PresetSingleRegister();	
			}
			else
			{//CRC校驗不正確

			}

			break;
		case 8://通訊診斷

			break;

		case 15: //設置多個繼電器
			CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				ForceMultipleCoils();	
			}
			else
			{//CRC校驗不正確

			}
			break;


		case 16://設置多個保持寄存器
			CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				PresetMultipleRegisters();	
			}
			else
			{//CRC校驗不正確

			}
			break;


		case 22://掩碼設置保持寄存器
			CRCCheck = Crc16(RdataA,RdataA_Num-2);
			if(CRCCheck == RdataA[RdataA_Num-1]+(RdataA[RdataA_Num-2]<<8))
			{//CRC校驗正確
				MaskWrite4XRegister();	
			}
			else
			{//CRC校驗不正確

			}
			break;

		default://從機接收到的功能碼不能識別
			ModbusExcep(RdataA[1],0x01);
			SciaTx_Response();
			break;
	}
}

void sciaRx()
{
	EINT;

	Cputime_Start=CpuTimer0Regs.TIM.all;

	if(SciaRegs.SCIRXST.bit.RXWAKE==1)//接收器喚醒檢測標志
	{
		RdataA_Num=0;
		RdataA[RdataA_Num]=SciaRegs.SCIRXBUF.all;
		if(RdataA[RdataA_Num]==Local)//本機地址，準備接收余下字節
		{
			RdataA_Num++;

			SciaRegs.SCICTL1.bit.SWRESET=0;
   			SciaRegs.SCICTL1.bit.SLEEP  =0;
    		SciaRegs.SCICTL1.bit.SWRESET=1;

		}
		else//不是本機地址，繼續休眠
		{	
			SciaRegs.SCICTL1.bit.SWRESET=0;
   			SciaRegs.SCICTL1.bit.SLEEP  =1;
    		SciaRegs.SCICTL1.bit.SWRESET=1;
		}
	}	
	else//接收余下接收數據	{
   		RdataA[RdataA_Num++]=SciaRegs.SCIRXBUF.all;	 // Read data
	} 	

	SciaRegs.SCIFFRX.bit.RXFFOVRCLR=1;   // Clear Overflow flag
	SciaRegs.SCIFFRX.bit.RXFFINTCLR=1;   // Clear Interrupt flag
	PieCtrlRegs.PIEACK.all|=0x100;       // Issue PIE ack
}

void sciaTx()
{
	Uint16 i;
	EINT;

	if(SdataA_Num<=16)//一次發送完畢
	{
	    for(i=0; i< SdataA_Num; i++)
	    {
	 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
		}		

		EDIS;   // This is needed to disable write to EALLOW protected registers 
	    PieCtrlRegs.PIEIER9.bit.INTx2=0;     // PIE Group 9, INT2
	    EINT;
	}
	else if(16<SdataA_Num && SdataA_Num<=32)//分兩次發送完畢
	{
		if(TxFifo_Time==0)
		{
			TxFifo_Time++;

			for(i=0; i< 16; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=SdataA_Num-16;
		}
		else if(TxFifo_Time==1)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);

			TxFifo_Time=0;

			for(i=16; i< SdataA_Num; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			EDIS;   // This is needed to disable write to EALLOW protected registers 
	    	PieCtrlRegs.PIEIER9.bit.INTx2=0;     // PIE Group 9, INT2
	    	EINT;
		}
	}
	else if(32<SdataA_Num && SdataA_Num<=48)//分三次發送完畢
	{
		if(TxFifo_Time==0)
		{
			TxFifo_Time++;

			for(i=0; i< 16; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=16;
		}
		else if(TxFifo_Time==1)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);
			TxFifo_Time++;

			for(i=16; i< 32; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=SdataA_Num-32;
		}
		else if(TxFifo_Time==2)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);

			TxFifo_Time=0;

			for(i=32; i< SdataA_Num; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			EDIS;   // This is needed to disable write to EALLOW protected registers 
	    	PieCtrlRegs.PIEIER9.bit.INTx2=0;     // PIE Group 9, INT2
	    	EINT;
		}
	}
	else if(48<SdataA_Num && SdataA_Num<=64)//分四次發送完畢
	{
		if(TxFifo_Time==0)
		{
			TxFifo_Time++;

			for(i=0; i< 16; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=16;
		}
		else if(TxFifo_Time==1)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);
			TxFifo_Time++;

			for(i=16; i< 32; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=16;
		}
		else if(TxFifo_Time==2)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);
			TxFifo_Time++;

			for(i=32; i< 48; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=SdataA_Num-48;
		}
		else if(TxFifo_Time==3)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);

			TxFifo_Time=0;

			for(i=48; i< SdataA_Num; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			EDIS;   // This is needed to disable write to EALLOW protected registers 
	    	PieCtrlRegs.PIEIER9.bit.INTx2=0;     // PIE Group 9, INT2
	    	EINT;
		}
	}
	else if(64<SdataA_Num && SdataA_Num<=80)//分五次發送完畢
	{
		if(TxFifo_Time==0)
		{
			TxFifo_Time++;

			for(i=0; i< 16; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=16;
		}
		else if(TxFifo_Time==1)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);
			TxFifo_Time++;

			for(i=16; i< 32; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=16;
		}
		else if(TxFifo_Time==2)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);
			TxFifo_Time++;

			for(i=32; i< 48; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=16;
		}
		else if(TxFifo_Time==3)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);
			TxFifo_Time++;

			for(i=48; i< 64; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			SciaRegs.SCIFFTX.bit.TXFFILIL=SdataA_Num-64;
		}
		else if(TxFifo_Time==4)
		{
			while(SciaRegs.SCIFFTX.bit.TXFFST!=0);

			TxFifo_Time=0;

			for(i=64; i< SdataA_Num; i++)
		    {
		 	   SciaRegs.SCITXBUF=SdataA[i];     // Send data
			}

			EDIS;   // This is needed to disable write to EALLOW protected registers 
	    	PieCtrlRegs.PIEIER9.bit.INTx2=0;     // PIE Group 9, INT2
	    	EINT;
		}
	}

	SciaRegs.SCIFFTX.bit.TXINTCLR=1;	// Clear SCI Interrupt flag
	PieCtrlRegs.PIEACK.all|=0x100;      // Issue PIE ACK
}

void TimeInterrupt()
{
	CpuTimer2.InterruptCount++;

   Cputime_End=CpuTimer0Regs.TIM.all;

   	if((Cputime_Start>0) && ((Cputime_Start-Cputime_End)>SLEEP_TIME))//10ms
	{//a Modbus request has been received
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?? 文件大小 162 K
?? 上傳用戶 tianlin4431
?? 所屬分類 DSP編程
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#Modbus #sci_loopback_interrupts #F2812 #2812
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?? modbus16.c

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