STM32HAL库RS485-ModBus协议控制伺服电机
2024-06-21 03:31:01
STM32HAL库RS485-ModBus协议控制伺服电机
一个月前，接手了一个学长的毕设小车，小车采用rs485通信的modbus协议驱动轮毂电机，与往常我学习的pwm控制电机方法大相径庭，在这里以这篇博客记录下该学习过程。
小车主要架构
电机型号
中菱轮毂电机
轮毂驱动器ZLAC8015D
- ZLAC8015D 的 RS485 支持 Modbus RTU 协议。
- 驱动器地址为 0-127 可设，默认为 1；
- 波特率 9600、19200、38400、57600、115200、128000、256000 等 7 种， 可通过软件设置。
默认 115200； 数据位 8，无奇偶校验，停止位 1
RS485通信
RS485接口组成的半双工网络，一般是两线制，多采用屏蔽双绞线传输，这种接线方式为总线式拓扑结构在同一总线上最多可以挂接32个结点。我们知道，最初数据是模拟信号输出简单过程量，后来仪表接口是RS232接口，这种接口可以实现点对点的通信方式，但这种方式不能实现联网功能，随后出现的RS485解决了这个问题。为此本文通过问答的形式详细介绍RS485接口。
RS485_RE为高电平的时候，DE为高电平有效，允许发送数据
RS485_RE为低电平的时候，RE为低电平有效，允许接收数据
485转换芯片可以把输入的串口信号转化成差分信号,也可以差分信号转化成串口信号
信号线A、B
| A>B | 0 |
|---|---|
| B>A | 1 |
STM32实现主从机RS485通信
STM32F103ZET6
RS485接口 A接A B接B
从机：
RS485发送 “Hello World”
char Buff[30];
//*******************
while (1){/* USER CODE END WHILE */HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET); //拉高发送sprintf(Buff,"Hello World");HAL_UART_Transmit(&huart2, Buff, sizeof(Buff), 0xffff); HAL_Delay(500);/* USER CODE BEGIN 3 */}
主机：
RS485接收 “Hello World”
虚拟串口打印
HAL_UART_Receive_IT(&huart2, RxBuff,1);
HAL_GPIO_WritePin(GPIOD,GPIO_PIN_7, GPIO_PIN_RESET); //拉低接收
//*******************************
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{uint8_t i;if(huart->Instance==USART2){HAL_UART_Receive_IT(&huart2,RxBuff,10);CDC_Transmit_FS(RxBuff, sizeof(RxBuff));}
}
Modbus协议
Modbus就是一种用在工业上的简单协议!
大致分为以下几种:
- Modbus-RTU
- Modbus-ASCII
- Modbus-TCP
以上三种协议，一个设备只会有一种协议，该电机使用的是Modbus-RTU。
Modbus是主从方式通信，也就是说，不能同步进行通信，总线上每次只有一个数据进行传输，即主机发送，从机应答，主机不发送，总线上就没有数据通信。
Modbus Poll主机Modbus Slave从机通信
第三方测试软件：vspd、Modbus Poll、Modbus Slave
虚拟一个串口
修改配置
读取数据
发送
Tx:000024- 01 03 00 00 00 0A C5 CD
| 01 | 03 | 00 00 | 00 0A | C5 CD |
|---|---|---|---|---|
| ID号 | 功能码 | 起始地址 | 数据内容 | 校验码 |
接收
Rx:000143- 01 03 0A 00 01 00 02 00 01 00 00 00 00 37 26
| 01 | 03 | 0A | 00 01 00 02 00 01 00 00 00 00 | 37 26 |
|---|---|---|---|---|
| ID号 | 功能码 | 字节长度 | 数据内容 | 校验位 |
发送单条数据
| 01 | 06 | 00 04 | 00 03 | 88 0A |
|---|---|---|---|---|
| ID号 | 功能码 | 起始地址 | 数据内容 | 校验码 |
发送多条数据
主机TX：
| ID | 功能码 | 起始地址 | 寄存器长度 | 数据内容 | 校验码 |
|---|---|---|---|---|---|
| 01 | 16(0X10) | 00 00 | 00 05 | 10字节 | XX XX |
Tx:001200- 01 10 00 03 00 01 02 00 04 A7 A0
| ID | 功能码 | 起始地址 | 数据长度 | 字节长度 | 数据内容 | 校验码 |
|---|---|---|---|---|---|---|
| 01 | 10 | 00 03 | 00 01 | 02 | 00 04 | A7 A0 |
功能码：
- 03->读取数据
- 06->发送单条数据
- 10->发送多条数据
SSCOM主机Modbus Slave从机通信
读取数据
发送单条数据
发送多条数据
STM32通过RS485完成Modbus协议通信
移植Modbus协议
mbrtu_master.h
#ifndef MBRTU_MASTER_H_
#define MBRTU_MASTER_H_#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include "mbrtu_master.h"
#include "usart.h"
#include "tim.h"/
///
/// MODBUS RTU 主机控制结构
///
///
typedef struct
{//// 收发数据缓存//uint8_t ucBuf[128];//// 收发数据状态//uint16_t usStatus;//// 如果使用了RTOS需要进行互斥,那么需要实现以下两个函数的绑定//void (*lock)(void);void (*unlock)(void);//// 微秒延时函数,用于等待超时//void (*delayms)(uint32_t nms);//// 定时器启动和停止函数//void (*timerStop)(void);void (*timerStart)(void);//// 发送数据函数,可以是串口、TCP等//uint32_t (*sendData)(const void* buf, uint32_t len);//// 以下四个回调函数分别是:读线圈、读离散量输入、读保持寄存器、读输入寄存器//void (*readCoilsCallback)(uint16_t usStartAddr, uint16_t usNum, const uint8_t* pucBitsOfCoilsState, uint16_t usLen);void (*readDiscreteInputsCallback)(uint16_t usStartAddr, uint16_t usNum, const uint8_t* pucBitsOfDiscreteInputsState, uint16_t usLen);void (*readHoldingRegistersCallback)(uint16_t usStartAddr, uint16_t usNum, const uint16_t* pusHoldingRegistersVal, uint16_t usLen);void (*readInputRegistersCallback)(uint16_t usStartAddr, uint16_t usNum, const uint16_t* pusInputRegistersVal, uint16_t usLen);}MBRTUMaterTypeDef;/
static void timerStop(void);
static void timerStart(void);
static void delayms(uint32_t nms);
static uint32_t sendData(const void *buf, uint32_t len);
static void readCoilsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfCoilsState, uint16_t usLen);
static void readDiscreteInputsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfDiscreteInputsState, uint16_t usLen);
static void readHoldingRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusHoldingRegistersVal, uint16_t usLen);
static void readInputRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusInputRegistersVal, uint16_t usLen);/
///
/// MODBUS RTU 主机 API
///
///
int MBRTUMasterReadCoils(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadDiscreteInputs(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadHoldingRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadInputRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterWriteSingleCoil(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint8_t ucState, uint16_t usTimeout);
int MBRTUMasterWriteSingleRegister(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usRegVal, uint16_t usTimeout);
int MBRTUMasterWriteMultipleCoils(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint8_t* pucStateBitsBuf, uint16_t usTimeout);
int MBRTUMasterWriteMultipleRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint16_t* pusRegVal, uint16_t usTimeout);/
///
/// MODBUS RTU 主机接收数据回调函数和超时回调函数
///
/// MBRTUMasterRecvByteISRCallback：放置于串口接收中断中
/// MBRTUMasterTimerISRCallback：放置于定时器超时中断中
///
void MBRTUMasterRecvByteISRCallback(MBRTUMaterTypeDef* psModbus, uint8_t ucByte);
void MBRTUMasterTimerISRCallback(MBRTUMaterTypeDef* psModbus);#endif /* MBRTU_MASTER_H_ */mbrtu_master.c
/** mbrtu_master.c** Created on: 2022年4月29日* Author: hello*/#include "mbrtu_master.h"static uint16_t usMBCRC16(uint8_t *pucFrame, uint16_t usLen)
{static const uint8_t aucCRCHi[] ={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};static const uint8_t aucCRCLo[] ={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};uint8_t ucCRCHi = 0xFF;uint8_t ucCRCLo = 0xFF;int iIndex;while (usLen--){iIndex = ucCRCLo ^ *(pucFrame++);ucCRCLo = (uint8_t)(ucCRCHi ^ aucCRCHi[iIndex]);ucCRCHi = aucCRCLo[iIndex];}return (uint16_t)(ucCRCHi << 8 | ucCRCLo);
}//读取数据
static uint32_t MBRTUMasterRead(MBRTUMaterTypeDef *pMaster, uint8_t ucSlaveAddr, uint8_t ucCmd, uint16_t usStartAddr, uint16_t usNum)
{uint16_t crc;pMaster->ucBuf[0] = ucSlaveAddr;pMaster->ucBuf[1] = ucCmd;pMaster->ucBuf[2] = ((usStartAddr & 0XFF00) >> 8);pMaster->ucBuf[3] = (usStartAddr & 0XFF);pMaster->ucBuf[4] = ((usNum & 0XFF00) >> 8);pMaster->ucBuf[5] = (usNum & 0XFF);crc = usMBCRC16((uint8_t *)pMaster->ucBuf, 6);pMaster->ucBuf[6] = (uint8_t)(crc & 0xFF);pMaster->ucBuf[7] = (uint8_t)(crc >> 8);return pMaster->sendData(pMaster->ucBuf, 8);
}/*** 主机读取线圈状态* @param ucSlaveAddress 从机地址* @param usAddress 要读取的线圈起始地址* @param usCmd 0x01* @param usNum 要读取的线圈数量* @param usTimeout 超时时间,单位毫秒* @return 0:成功 <0:执行失败*/
int MBRTUMasterReadCoils(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{int ret = -1;int delay;if (psModbus->lock != NULL){psModbus->lock();}psModbus->usStatus = 0;MBRTUMasterRead(psModbus, ucSlaveAddress, 0X01, usAddress, usNum);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X01){psModbus->readCoilsCallback(usAddress, usNum, &psModbus->ucBuf[3], psModbus->ucBuf[2]);ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机读取离散量输入* @param ucSlaveAddress 从机地址* @param usAddress 要读取的离散量起始地址* @param usCmd 0x02* @param usNum 要读取的离散量数量* @param usTimeout 超时时间,单位毫秒* @return 0:成功 <0:执行失败*/
int MBRTUMasterReadDiscreteInputs(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{int ret = -1;int delay;if (psModbus->lock != NULL){psModbus->lock();}psModbus->usStatus = 0;MBRTUMasterRead(psModbus, ucSlaveAddress, 0X02, usAddress, usNum);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X02){psModbus->readDiscreteInputsCallback(usAddress, usNum, &psModbus->ucBuf[3], psModbus->ucBuf[2]);ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机读取保持寄存器!!!!!!!!!!!!* @param ucSlaveAddress 从机地址* @param usAddress 要读取的保持寄存器起始地址* @param usCmd 0x03* @param usNum 要读取的保持寄存器数量* @param usTimeout 超时时间,单位毫秒* @return 0:成功 <0:执行失败*/
int MBRTUMasterReadHoldingRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{int ret = -1;int delay;if (psModbus->lock != NULL){psModbus->lock();}psModbus->usStatus = 0;MBRTUMasterRead(psModbus, ucSlaveAddress, 0X03, usAddress, usNum);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X03){psModbus->readHoldingRegistersCallback(usAddress, usNum, (const uint16_t *)&psModbus->ucBuf[3], psModbus->ucBuf[2] >> 1);ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机读取输入寄存器* @param ucSlaveAddress 从机地址* @param usAddress 要读取的输入寄存器起始地址* @param usCmd 0x04* @param usNum 要读取的输入寄存器数量* @param usTimeout 超时时间,单位毫秒* @return 0:成功 <0:执行失败*/
int MBRTUMasterReadInputRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{int ret = -1;int delay;if (psModbus->lock != NULL){psModbus->lock();}psModbus->usStatus = 0;MBRTUMasterRead(psModbus, ucSlaveAddress, 0X04, usAddress, usNum);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X04){psModbus->readInputRegistersCallback(usAddress, usNum, (const uint16_t *)&psModbus->ucBuf[3], psModbus->ucBuf[2] >> 1);ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机写单个线圈* @param ucSlaveAddress 从机地址* @param usAddress 线圈地址* @param usCmd 0x05* @param ucState 要设置的线圈状态，1或者0* @param usTimeout 超时时间,单位毫秒* @return 0:成功 <0:执行失败*/int MBRTUMasterWriteSingleCoil(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint8_t ucState, uint16_t usTimeout)
{int ret = -1;int delay;uint16_t crc;if (psModbus->lock != NULL){psModbus->lock();}psModbus->ucBuf[0] = ucSlaveAddress;psModbus->ucBuf[1] = 0X05;psModbus->ucBuf[2] = usAddress & 0XFF;psModbus->ucBuf[3] = usAddress >> 8;psModbus->ucBuf[4] = ucState ? 0XFF : 0X00;psModbus->ucBuf[5] = 0X00;crc = usMBCRC16((uint8_t *)psModbus->ucBuf, 6);psModbus->ucBuf[6] = (uint8_t)(crc & 0xFF);psModbus->ucBuf[7] = (uint8_t)(crc >> 8);psModbus->usStatus = 0;psModbus->sendData(psModbus->ucBuf, 8);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X05){ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机写单个寄存器!!!!!!!!!!!* @param ucSlaveAddress 从机地址* @param usAddress 寄存器地址* @param usCmd 0x06* @param usRegVal 寄存器值* @param usTimeout 超时时间,单位毫秒* @return 0:成功 <0:执行失败*/
// MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, RUN_MODE_ADDR, 0x0003, 100);
int MBRTUMasterWriteSingleRegister(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usRegVal, uint16_t usTimeout)
{int ret = -1;int delay;uint16_t crc;if (psModbus->lock != NULL){psModbus->lock();}psModbus->ucBuf[0] = ucSlaveAddress;psModbus->ucBuf[1] = 0X06;psModbus->ucBuf[2] = usAddress & 0XFF;psModbus->ucBuf[3] = usAddress >> 8;psModbus->ucBuf[4] = usRegVal >> 8;psModbus->ucBuf[5] = usRegVal & 0XFF;crc = usMBCRC16((uint8_t *)psModbus->ucBuf, 6);psModbus->ucBuf[6] = (uint8_t)(crc & 0xFF);psModbus->ucBuf[7] = (uint8_t)(crc >> 8);psModbus->usStatus = 0;psModbus->sendData(psModbus->ucBuf, 8);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X06){ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机写多个线圈状态* @param ucSlaveAddress 从机地址* @param usAddress 线圈起始地址* @param usNum 要写的线圈数量* @param pucStateBitsBuf 存放线圈状态，1比特代表一个线圈状态* @param usTimeout 超时时间,单位毫秒* @return 0:成功 <0:执行失败*/
int MBRTUMasterWriteMultipleCoils(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint8_t *pucStateBitsBuf, uint16_t usTimeout)
{int ret = -1;int delay;uint16_t crc;uint16_t usIndex = 0, usBytes = 0;if (psModbus->lock != NULL){psModbus->lock();}psModbus->ucBuf[usIndex++] = ucSlaveAddress;psModbus->ucBuf[usIndex++] = 0X0F;psModbus->ucBuf[usIndex++] = usAddress & 0XFF;psModbus->ucBuf[usIndex++] = usAddress >> 8;psModbus->ucBuf[usIndex++] = usNum >> 8;psModbus->ucBuf[usIndex++] = usNum & 0XFF;usBytes = (usNum - 1) / 8 + 1;psModbus->ucBuf[usIndex++] = usBytes;while (usBytes--){psModbus->ucBuf[usIndex++] = *pucStateBitsBuf++;}crc = usMBCRC16((uint8_t *)psModbus->ucBuf, usIndex);psModbus->ucBuf[usIndex++] = (uint8_t)(crc & 0xFF);psModbus->ucBuf[usIndex++] = (uint8_t)(crc >> 8);psModbus->usStatus = 0;psModbus->sendData(psModbus->ucBuf, usIndex);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X0F){ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}/*** 主机写多个寄存器!!!!!!!!!!!* @param ucSlaveAddress 从机地址* @param usAddress 要写的寄存器起始地址* @param usCmd 0x10* @param usNum 要写的寄存器数量* @param pusRegVal 存放要写的寄存器值* @param usTimeout 超时时间,单位毫秒* @return 0:成功 <0:执行失败*/
int MBRTUMasterWriteMultipleRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint16_t *pusRegVal, uint16_t usTimeout)
{int ret = -1;int delay;uint16_t crc;uint16_t usIndex = 0;if (psModbus->lock != NULL){psModbus->lock();}psModbus->ucBuf[usIndex++] = ucSlaveAddress;psModbus->ucBuf[usIndex++] = 0X10;psModbus->ucBuf[usIndex++] = usAddress & 0XFF;psModbus->ucBuf[usIndex++] = usAddress >> 8;psModbus->ucBuf[usIndex++] = usNum >> 8;psModbus->ucBuf[usIndex++] = usNum & 0XFF;psModbus->ucBuf[usIndex++] = usNum << 1;while (usNum--){psModbus->ucBuf[usIndex++] = *pusRegVal >> 8;psModbus->ucBuf[usIndex++] = *pusRegVal & 0XFF;pusRegVal++;}crc = usMBCRC16((uint8_t *)psModbus->ucBuf, usIndex);psModbus->ucBuf[usIndex++] = (uint8_t)(crc & 0xFF);psModbus->ucBuf[usIndex++] = (uint8_t)(crc >> 8);psModbus->usStatus = 0;psModbus->sendData(psModbus->ucBuf, usIndex);while (usTimeout != 0){if (psModbus->usStatus & 0X8000){if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X10){ret = 0;}else{ret = -2;}psModbus->usStatus = 0;break;}delay = usTimeout > 5 ? 5 : usTimeout;usTimeout -= delay;psModbus->delayms(delay);}if (psModbus->unlock != NULL){psModbus->unlock();}return ret;
}void MBRTUMasterRecvByteISRCallback(MBRTUMaterTypeDef *psModbus, uint8_t ucByte)
{psModbus->timerStop();if (psModbus->usStatus < sizeof(psModbus->ucBuf)){psModbus->ucBuf[psModbus->usStatus++] = ucByte;psModbus->timerStart();}else{psModbus->usStatus |= 0X8000;}
}void MBRTUMasterTimerISRCallback(MBRTUMaterTypeDef *psModbus)
{psModbus->timerStop();psModbus->usStatus |= 0X8000;
}#ifdef USE_RTOSstatic void mutex_lock(void)
{}static void mutex_unlock(void)
{}#endifstatic void timerStop(void)
{HAL_TIM_Base_Stop_IT(&htim3);
}static void timerStart(void)
{__HAL_TIM_SET_COUNTER(&htim3, 0);HAL_TIM_Base_Start_IT(&htim3);
}static void delayms(uint32_t nms)
{HAL_Delay(nms);
}static uint32_t sendData(const void *buf, uint32_t len)
{if (HAL_UART_Transmit(&huart2, (uint8_t *)buf, len, 100) != HAL_OK){len = 0;}return len;
}static void readCoilsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfCoilsState, uint16_t usLen)
{uint8_t ucLoops = (usNum - 1) / 8 + 1;uint8_t ucState, ucBits;printf(" Read %d coils starting at start address %d: ", usNum, usStartAddr);while (ucLoops != 0){ucState = *pucBitsOfCoilsState++;ucBits = 0;while (usNum != 0 && ucBits < 8){printf("%d ", ucState & 0X01 ? 1 : 0);ucState >>= 1;usNum--;ucBits++;}ucLoops--;}printf("\r\n");
}static void readDiscreteInputsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfDiscreteInputsState, uint16_t usLen)
{uint8_t ucLoops = (usNum - 1) / 8 + 1;uint8_t ucState, ucBits;printf(" Read %d discrete inputs starting at start address %d: ", usNum, usStartAddr);while (ucLoops != 0){ucState = *pucBitsOfDiscreteInputsState++;ucBits = 0;while (usNum != 0 && ucBits < 8){printf("%d ", ucState & 0X01 ? 1 : 0);ucState >>= 1;usNum--;ucBits++;}ucLoops--;}printf("\r\n");
}static void readHoldingRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusHoldingRegistersVal, uint16_t usLen)
{uint16_t val;printf(" Read %d hold registers starting at start address %d: ", usNum, usStartAddr);while (usLen--){val = *pusHoldingRegistersVal++;val = ((val & 0X00FF) << 8) | ((val & 0XFF00) >> 8); // 转换大小端printf("%04X ", val);}printf("\r\n");
}static void readInputRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusInputRegistersVal, uint16_t usLen)
{uint16_t val;printf(" Read %d input registers starting at start address %d: ", usNum, usStartAddr);while (usLen--){val = *pusInputRegistersVal++;val = ((val & 0X00FF) << 8) | ((val & 0XFF00) >> 8); // 转换大小端printf("%04X ", val);}printf("\r\n");
}MBRTUMaterTypeDef MBRTUHandle ={.delayms = delayms,.timerStart = timerStart,.timerStop = timerStop,.sendData = sendData,.readCoilsCallback = readCoilsCallback,.readDiscreteInputsCallback = readDiscreteInputsCallback,.readHoldingRegistersCallback = readHoldingRegistersCallback,.readInputRegistersCallback = readInputRegistersCallback,#ifdef USE_RTOS // 使用了RTOS那么需要实现互斥.lock = mutex_lock,.unlock = mutex_unlock,
#endif};
main.c
TX
extern MBRTUMaterTypeDef MBRTUHandle;
void main(){/*.............*/while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET); //拉高发送MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 6, 0X0501, 100);HAL_Delay(1000);}}
STM32主机Modbus Slave从机通信
#include "mbrtu_master.h"extern MBRTUMaterTypeDef MBRTUHandle;
for(j=0; j<=255;j++) {for(i=0;i<=8;i++) {MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, i, j, 100);HAL_Delay(1000);}
}
STM32按键控制发送ZLAC8015D电机指令
if (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1) {/*延时一小段时间，消除抖动*/HAL_Delay(10);/*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/if (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1) {/*等待按键弹开才退出按键扫描函数*/while (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200D, 0x0003, 100);// MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2088, 0X0064, 100);}}if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0) {/*延时一小段时间，消除抖动*/HAL_Delay(10);/*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0) {/*等待按键弹开才退出按键扫描函数*/while (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200E, 0x0008, 100);HAL_Delay(10);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200E, 0x0010, 100);}}if (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0) {/*延时一小段时间，消除抖动*/HAL_Delay(10);/*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/if (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0) {/*等待按键弹开才退出按键扫描函数*/while (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2088, 0X0064, 100);
// HAL_Delay(10);MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2089, 0X0064, 100);HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_5);}}}
指令依次是
设置速度模式
使能
电机同步启动
设置左电机目标转速100RPM
设置右点击目标转速100RPM
、
STM32HAL库RS485-ModBus协议控制伺服电机相关推荐
- 串行通讯RS485 Modbus RTU协议控制
一.内容简介 本文主要介绍欧姆龙CP1E做上位与SMC的LECP6电缸 之间串行通讯RS485 Modbus RTU协议程序控制说明. 二.设备简介 硬件:CP1E.CP1W-CIF1 ...
- Matlab Simulink RS-485 Modbus RTU协议串口通信实录
目录 一.目标实现 二.基本原理 三.过程实录 一.基本原理 一.目标实现 最近需要进行一个大型试验,需要实现:通过上位机来实时收集波高仪数据并经过一系列复杂算法来控制下位机(IO模块即继电器)从而控 ...
- STM32物联网项目-RS485通信(Modbus协议)
RS485通信(Modbus协议) 协议介绍 RS485介绍:http://t.csdn.cn/bOuFX Modbus协议:http://t.csdn.cn/mgioX CubeMX配置 RS-48 ...
- 【物联网毕设基础】单片机：RS485 通信与 Modbus 协议
文章目录 RS485 通信与 Modbus 协议 单片机 RS485 通信接口.控制线.原理图及程序实例 RS485 通信与 Modbus 协议 在工业控制.电力通讯.智能仪表等领域,通常情况下是采用 ...
- RS485通信和Modbus协议
在工业控制.电力通讯.智能仪表等领域,通常情况下是采用串口通信的方式进行数据交换.最初采用的方式是 RS232 接口,由于工业现场比较复杂,各种电气设备会在环境中产生比较多的电磁干扰,会导致信号传输错 ...
- 安卓开发板之串口通信，通过modbus Rtu协议控制下位机
安卓开发板之串口通信,通过modbus Rtu协议控制下位机 1.环境准备 2.编写串口操作核心类 3.编写测试类 前言:因为公司最近有个人脸识别门禁的项目,这个项目主要业务是实现远程人脸注册,管理员 ...
- ubuntu16.04下使用Modbus RTU协议控制Robotiq
ubuntu16.04下使用Modbus RTU协议控制Robotiq 一.设备配置 二.创建工作空间 三.安装驱动 四.配置串口 五. ROS节点控制夹爪 六.RVIZ显示模型 一.设备配置 操作系 ...
- RS485接口modbus协议RTU方式
文章目录 RS485接口modbus协议RTU方式 一.RS485接口 二.Modbus通信协议 1.1 通信协议 1.2 通信方向 1.3 主从模式和寻址帧格式 1.4 modbus的主机寻址帧格式 ...
- RS485 通信与 Modbus 协议
文章目录 RS485 通信与 Modbus 协议 单片机 RS485 通信接口.控制线.原理图及程序实例 RS485 通信与 Modbus 协议 在工业控制.电力通讯.智能仪表等领域,通常情况下是采用 ...
最新文章
- java script 6 折线_Java入门第六篇：Java script(js)的事件
- javascript表单之间的数据传递
- 李飞飞点赞的NeurIPS新赛道，刚刚公布了第一批数据集benchmark入围名单
- MYSQL-用户操作
- oracle数据modeling分类,由浅入深 NoSQL的五种主流数据模型
- 基于C8051F040单片机的CAN总线测试模式研究
- JMG | 基因PRKG2的变异导致骨骼表型异常
- k8s与监控--解读prometheus监控kubernetes的配置文件
- matlab sizeof size,使用Matlab进行MEXing C时，size_t和mwSize之间的差异
- jq实现剪裁图片设置为头像
- git操作本地仓库基本使用教程
- C# 操作json 序列化 反序列化
- HTML弹窗上下一步,JS实现从网页顶部掉下弹出层效果的方法
- mysql event demo_MySQL定时任务event
- Linux的vim编辑器常用命令
- Windows如何后台运行bat文件
- 梅隆大学计算机专业申请,卡内基梅隆大学计算机专业申请条件（附案例）
- cannot read property 'options' of underfined
- 为什么人人都爱油炸食物？
- hql删除mysql语句_hibernate -- HQL语句总结