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add modbus RTU

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This commit is contained in:
Edward Emelianov
2024-09-24 18:13:23 +03:00
parent 22a205001a
commit 03772fce3a
9 changed files with 83 additions and 26 deletions
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48
F1:F103/FX3U/modbusrtu.c
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@@ -16,6 +16,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "hardware.h"
#include "modbusrtu.h"
#include "flash.h"
#include "strfunc.h"
@@ -27,6 +28,20 @@
#include <stm32f1.h>
#include <string.h> // memcpy
/*
static void us(){
usart_send("MAPR="); printuhex(AFIO->MAPR);
usart_send("\nACRH="); printuhex(GPIOA->CRH);
usart_send("\nODR"); printuhex(GPIOA->ODR);
usart_send("\nIDR"); printuhex(GPIOA->IDR);
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_DISABLE;
newline();
}*/
// switch to Rx/Tx:
#define _485_Rx() do{LED(1); RS485_RX(); /*UART4->CR1 = (UART4->CR1 & ~USART_CR1_TE) | USART_CR1_RE;*/}while(0)
#define _485_Tx() do{LED(0); RS485_TX(); /*UART4->CR1 = (UART4->CR1 & ~USART_CR1_RE) | USART_CR1_TE;*/}while(0)
static volatile int modbus_txrdy = 1;
static volatile int idatalen[2] = {0,0}; // received data line length (including '\n')
@@ -53,6 +68,9 @@ static uint16_t getCRC(uint8_t *data, int l){
}else crc >>= 1;
}
}
#ifdef EBUG
DBG("Calc CRC: "); printuhex(crc); newline();
#endif
// CRC have swapped bytes, so we can just send it as *((uint16_t*)&data[x]) = CRC
return crc;
}
@@ -87,6 +105,7 @@ static int senddata(int l){
IWDG->KR = IWDG_REFRESH;
if(--tmout == 0) return 0;
}; // wait for previos buffer transmission
_485_Tx();
modbus_txrdy = 0;
DMA2_Channel5->CCR &= ~DMA_CCR_EN;
DMA2_Channel5->CMAR = (uint32_t) tbuf[tbufno]; // mem
@@ -121,6 +140,7 @@ int modbus_send_request(modbus_request *r){
memcpy(curbuf, r->data, r->datalen);
n += r->datalen;
}
packCRC(tbuf[tbufno], n) = getCRC(tbuf[tbufno], n);
return senddata(n);
}
@@ -161,6 +181,7 @@ int modbus_send_response(modbus_response *r){
if(len > MODBUSBUFSZO - 2) return -1; // too much data
memcpy(curbuf, r->data, r->datalen);
}
packCRC(tbuf[tbufno], len) = getCRC(tbuf[tbufno], len);
return senddata(len);
}
@@ -187,11 +208,11 @@ int modbus_get_response(modbus_response* r){
// USART4: PC10 - Tx, PC11 - Rx
void modbus_setup(uint32_t speed){
uint32_t tmout = 16000000;
// PA9 - Tx, PA10 - Rx
// PC10 - Tx, PC11 - Rx
RCC->APB1ENR |= RCC_APB1ENR_UART4EN;
RCC->AHBENR |= RCC_AHBENR_DMA2EN;
GPIOA->CRH = (GPIOA->CRH & ~(CRH(9,0xf)|CRH(10,0xf))) |
CRH(9, CNF_AFPP|MODE_NORMAL) | CRH(10, CNF_FLINPUT|MODE_INPUT);
GPIOC->CRH = (GPIOC->CRH & ~(CRH(10,0xf)|CRH(11,0xf))) |
CRH(10, CNF_AFPP|MODE_NORMAL) | CRH(11, CNF_FLINPUT|MODE_INPUT);
// UART4 Tx DMA - Channel5 (Rx - channel 3)
DMA2_Channel5->CPAR = (uint32_t) &UART4->DR; // periph
DMA2_Channel5->CCR |= DMA_CCR_MINC | DMA_CCR_DIR | DMA_CCR_TCIE; // 8bit, mem++, mem->per, transcompl irq
@@ -202,15 +223,20 @@ void modbus_setup(uint32_t speed){
// setup uart4
UART4->BRR = 36000000 / speed; // APB1 is 36MHz
UART4->CR1 = USART_CR1_TE | USART_CR1_RE | USART_CR1_UE; // 1start,8data,nstop; enable Rx,Tx,USART
while(!(UART4->SR & USART_SR_TC)){if(--tmout == 0) break;} // polling idle frame Transmission
while(!(UART4->SR & USART_SR_TC)){ // polling idle frame Transmission
IWDG->KR = IWDG_REFRESH;
if(--tmout == 0) break;
}
UART4->SR = 0; // clear flags
UART4->CR1 |= USART_CR1_RXNEIE | USART_CR1_IDLEIE; // allow Rx and IDLE IRQ
UART4->CR1 |= USART_CR1_RXNEIE | USART_CR1_IDLEIE | USART_CR1_TCIE; // allow Rx and IDLE IRQ; TC IRQ for switching to Rx
UART4->CR3 = USART_CR3_DMAT; // enable DMA Tx
NVIC_EnableIRQ(UART4_IRQn);
_485_Rx();
}
void uart4_isr(){
if(UART4->SR & USART_SR_IDLE){ // idle - end of frame
usart_send("485: IDLE\n");
modbus_rdy = 1;
dlen = idatalen[rbufno];
recvdata = rbuf[rbufno];
@@ -218,15 +244,22 @@ void uart4_isr(){
rbufno = !rbufno;
idatalen[rbufno] = 0;
(void) UART4->DR; // clear IDLE flag by reading DR
}
if(UART4->SR & USART_SR_RXNE){ // RX not emty - receive next char
}else if(UART4->SR & USART_SR_RXNE){ // RX not emty - receive next char
uint8_t rb = UART4->DR; // clear RXNE flag
if(idatalen[rbufno] < MODBUSBUFSZI){ // put next char into buf
rbuf[rbufno][idatalen[rbufno]++] = rb;
usart_send("485: "); usart_putchar(rb); newline();
}else{ // buffer overrun
bufovr = 1;
idatalen[rbufno] = 0;
}
}else if(UART4->SR & USART_SR_TC){
if(modbus_txrdy){
usart_send("->Rx\n");
_485_Rx();
}
usart_send("485: TC\n");
UART4->SR &= ~USART_SR_TC;
}
}
@@ -236,3 +269,4 @@ void dma2_channel4_5_isr(){
modbus_txrdy = 1;
}
}