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STM32 MODBUS-RTU主从站库移植

news 2025/4/3 23:21:35

代码地址

STM32MODBUSRTU: stm32上的modbus工程

从站

FreeModbus是一个开源的Modbus通信协议栈实现。它允许开发者在各种平台上轻松地实现Modbus通信功能，包括串口和以太网。FreeMODBUS提供了用于从设备和主站通信的功能，支持Modbus RTU和Modbus TCP协议。在工业控制和自动化领域广泛应用。

　　FreeModBus可通过官方网站下载：FreeMODBUS

参考文章：FreeModbus RTU 从机Hal库裸机移植避坑指南 - Atul-8 - 博客园

1. STM32CubeMX 配置流程

我假设你已经学会使用stm32cubeMX点灯了;

1.1下载模式配置

1.2 定时器配置

为了实现一个1750us的超时计时定时器，其中计算过程如下，使用内部时钟8M，预分配399+1，及400/8m=50us，计数周期为34+1，也就是35*50us=1750us

1.3 串口配置

1.4 中断配置

关闭自动生成中断函数，因为需要在freemodbus源码里添加这两个函数。

2.库文件导入

2.1 .c文件汇总

2.2 .h文件汇总

2.3 demo文件选择

3. 移植流程

ok 完成上述步骤后, 你就可以开始正式的移植工作了:

主要需要移植的地方为: portserial.c && porttimer.c && demo.c

E:\STM32CubeIDE\Workspace\FreeMODBUSRTUSlave\modbus\include\mbconfig.h

文件中将ASCII关闭

E:\STM32CubeIDE\Workspace\FreeMODBUSRTUSlave\modbus\rtu\mbrtu.c

文件中有两处断言需要调整，我不清楚为什么，但是我的不修改会进入断言

E:\STM32CubeIDE\Workspace\FreeMODBUSRTUSlave\modbus\port\portserial.c

代码如下：

/** 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"/* ----------------------- Modbus includes ----------------------------------*/
#include "mb.h"
#include "mbport.h"
#include "main.h"
#include "usart.h"
/* ----------------------- static functions ---------------------------------*/
static void prvvUARTTxReadyISR( void );
static void prvvUARTRxISR( void );extern UART_HandleTypeDef huart1;/* ----------------------- Start implementation -----------------------------*/
void
vMBPortSerialEnable( BOOL xRxEnable, BOOL xTxEnable )
{/* If xRXEnable enable serial receive interrupts. If xTxENable enable* transmitter empty interrupts.*/if (xRxEnable) {__HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);} else {__HAL_UART_DISABLE_IT(&huart1, UART_IT_RXNE);}if (xTxEnable) {__HAL_UART_ENABLE_IT(&huart1, UART_IT_TXE);} else {__HAL_UART_DISABLE_IT(&huart1, UART_IT_TXE);}
}BOOL
xMBPortSerialInit( UCHAR ucPORT, ULONG ulBaudRate, UCHAR ucDataBits, eMBParity eParity )
{MX_USART1_UART_Init();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. */USART1->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 = (USART1->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 USART1_IRQHandler(void)
{if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_RXNE)){__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_RXNE);	prvvUARTRxISR();// __HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);}if(__HAL_UART_GET_FLAG(&huart1, UART_FLAG_TXE)){__HAL_UART_CLEAR_FLAG(&huart1, UART_FLAG_TXE);			prvvUARTTxReadyISR();}
//    HAL_UART_IRQHandler(&huart1);
}

E:\STM32CubeIDE\Workspace\FreeMODBUSRTUSlave\modbus\port\porttimer.c

代码如下：

/** 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 "main.h"
/* ----------------------- static functions ---------------------------------*/
static void prvvTIMERExpiredISR( void );extern TIM_HandleTypeDef htim4;
/* ----------------------- Start implementation -----------------------------*/static void MX_TIM4_Init(void)
{TIM_ClockConfigTypeDef sClockSourceConfig = {0};TIM_MasterConfigTypeDef sMasterConfig = {0};htim4.Instance = TIM4;htim4.Init.Prescaler = 399;htim4.Init.CounterMode = TIM_COUNTERMODE_UP;htim4.Init.Period = 34;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();}
}BOOL
xMBPortTimersInit( USHORT usTim1Timerout50us )
{MX_TIM4_Init();__HAL_TIM_CLEAR_FLAG(&htim4, TIM_FLAG_UPDATE);      __HAL_TIM_ENABLE_IT(&htim4, TIM_IT_UPDATE);					return TRUE;
}inline void
vMBPortTimersEnable(  )
{/* Enable the timer with the timeout passed to xMBPortTimersInit( ) */__HAL_TIM_SET_COUNTER(&htim4, 0);__HAL_TIM_ENABLE(&htim4);
}inline void
vMBPortTimersDisable(  )
{/* Disable any pending timers. */__HAL_TIM_DISABLE(&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(  );
}void TIM4_IRQHandler(void)
{if(__HAL_TIM_GET_FLAG(&htim4, TIM_FLAG_UPDATE)){__HAL_TIM_CLEAR_FLAG(&htim4, TIM_FLAG_UPDATE);prvvTIMERExpiredISR();}
}

E:\STM32CubeIDE\Workspace\FreeMODBUSRTUSlave\modbus\demo.c

代码如下：这里是主要modbus栈需要维护的数据

/** FreeModbus Libary: BARE Demo Application* Copyright (C) 2006 Christian Walter <wolti@sil.at>** This program is free software; you can redistribute it and/or modify* it under the terms of the GNU General Public License as published by* the Free Software Foundation; either version 2 of the License, or* (at your option) any later version.** This program 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 General Public License for more details.** You should have received a copy of the GNU General Public License* along with this program; if not, write to the Free Software* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA** File: $Id$*//* ----------------------- Modbus includes ----------------------------------*/
#include "mb.h"
#include "mbport.h"/* ----------------------- Defines ------------------------------------------*/
#define REG_INPUT_START 1000
#define REG_INPUT_NREGS 4/* ----------------------- Static variables ---------------------------------*/
static USHORT   usRegInputStart = REG_INPUT_START;
static USHORT   usRegInputBuf[REG_INPUT_NREGS];// 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};/* ----------------------- Start implementation -----------------------------*//// 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;
}

E:\STM32CubeIDE\Workspace\FreeMODBUSRTUSlave\Core\Src\freertos.c

如下修改：

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "mb.h"
#include "mbport.h"
/* USER CODE END Includes */

/* USER CODE BEGIN Header_StartDefaultTask */
/*** @brief  Function implementing the defaultTask thread.* @param  argument: Not used* @retval None*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{/* USER CODE BEGIN StartDefaultTask *//* Infinite loop */eMBInit(MB_RTU, 0x01, 0, 115200, MB_PAR_NONE); eMBEnable();for(;;){osDelay(1);eMBPoll();}/* USER CODE END StartDefaultTask */
}