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README
LGPL-2.1

Freemodbus

简介

这是 armink 大神移植的 Freemodbus 协议栈。同时支持主机和从机的功能。

FreeModbus 是一款开源的 Modbus 协议栈,但是只有从机开源,主机源码是需要收费的。同时网上也没有发现比较好的开源的 Modbus 主机协议栈,所以才开发这款支持主机模式的 FreeModbus 协议栈。本版 FreeModbus版本号更改为V1.6,特性如下:

  • 新增加的主机源码与原有从机的风格及接口保持一致;
  • 支持主机与从机在同一协议栈运行;
  • 支持实时操作系统及裸机移植;
  • 为应用提供多种请求模式,用户可以选择阻塞还是非阻塞模式,自定义超时时间等,方便应用层灵活调用;
  • 支持所有常用的Modbus方法。

文件结构

源文件 描述
FreeModbus\modbus\mb.c 给应用层提供Modbus从机设置及轮询相关接口
FreeModbus\modbus\mb_m.c 给应用层提供Modbus主机设置及轮询相关接口
FreeModbus\modbus\ascii\mbascii.c ASCII模式设置及其状态机
FreeModbus\modbus\functions\mbfunccoils.c 从机线圈相关功能
FreeModbus\modbus\functions\mbfunccoils_m.c 主机线圈相关功能
FreeModbus\modbus\functions\mbfuncdisc.c 从机离散输入相关功能
FreeModbus\modbus\functions\mbfuncdisc_m.c 主机离散输入相关功能
FreeModbus\modbus\functions\mbfuncholding.c 从机保持寄存器相关功能
FreeModbus\modbus\functions\mbfuncholding_m.c 主机保持寄存器相关功能
FreeModbus\modbus\functions\mbfuncinput.c 从机输入寄存器相关功能
FreeModbus\modbus\functions\mbfuncinput_m.c 主机输入寄存器相关功能
FreeModbus\modbus\functions\mbfuncother.c 其余Modbus功能
FreeModbus\modbus\functions\mbutils.c 一些协议栈中需要用到的小工具
FreeModbus\modbus\rtu\mbcrc.c CRC校验功能
FreeModbus\modbus\rtu\mbrtu.c 从机RTU模式设置及其状态机
FreeModbus\modbus\rtu\mbrtu_m.c 主机RTU模式设置及其状态机
FreeModbus\modbus\tcp\mbtcp.c TCP模式设置及其状态机
FreeModbus\port\port.c 实现硬件移植部分接口
FreeModbus\port\portevent.c 实现从机事件移植接口
FreeModbus\port\portevent_m.c 实现主机事件及错误处理移植接口
FreeModbus\port\portserial.c 从机串口移植
FreeModbus\port\portserial_m.c 主机串口移植
FreeModbus\port\porttimer.c 从机定时器移植
FreeModbus\port\porttimer_m.c 主机定时器移植
FreeModbus\port\user_mb_app.c 定义从机数据缓冲区,实现从机Modbus功能的回调接口
FreeModbus\port\user_mb_app_m.c 定义主机数据缓冲区,实现主机Modbus功能的回调接口
FreeModbus\samples\sample_mb_master.c 主机使用示例代码
FreeModbus\samples\sample_mb_slave.c 从机使用示例代码
FreeModbus\samples\README.md 示例代码说明文档

注:所有带_m后缀的文件为主机模式下必须使用的文件,如使用从机模式则无需这些文件。

许可证

Freemodbus 软件包遵循 BSD 许可,详见 LICENSE 文件。

依赖

  • RT_Thread UART 设备

获取方式

使用 Freemodbus 软件包 需要在 RT-Thread 的包管理器中选择它,具体路径如下:

RT-Thread online packages
    IoT - internet of things --->
        [*] FreeModbus: Modbus master and slave stack  --->
             [*]   Master mode  --->
             [*]   Slave mode  --->

最后让 RT-Thread 的包管理器自动更新,或者使用 pkgs --update 命令更新包到 BSP 中。

使用方法

数据缓冲区

数据缓冲区定义的位置位于 FreeModbus\port\user_mb_app_m.c 文件顶部,共计 4种 数据类型。 FreeModbus从机默认使用 一维数组 作为缓存区数据结构,主机可以存储所有网内从机的数据,所以主机采用 二维数组 对所有从机节点数据进行存储。二维数组的列号代表寄存器、线圈及离散量地址,行号代表从机节点ID,但需要做减一处理,例如usMRegHoldBuf[2][1]代表从机ID为 3,保持寄存器地址为 1 的从机数据。

Modbus 数据处理回调接口

Modbus 一共有4种不同的数据类型,所有的 Modbus 功能都围绕这些数据类型进行操作。由于不同的用户数据缓冲区结构可能有所不同,那么对应的 Modbus 数据处理方式也就存在差异,所以用户需要把每种数据类型对应的操作,按照自己的数据缓冲区结构进行定制实现。 所有的 Modbus 数据处理回调接口如下:

接口 功能描述
eMBMasterRegInputCB 输入寄存器回调接口
eMBMasterRegHoldingCB 保持寄存器回调接口
eMBMasterRegCoilsCB 线圈回调接口
eMBMasterRegDiscreteCB 离散输入回调接口

对于数组形式的数据缓冲区结构,源码中已经做好了移植,直接使用即可。

初始化配置流程

本协议栈所有配置参数都位于FreeModbus\modbus\include\mbconfig.h,目前协议栈支持主机及从机两种模式,并且支持两种模式同时开启。从机支持Modbus RTU 、Modbus ASCII 及Modbus TCP 3种模式,主机现在只支持常用的Modbus RTU模式。在使用主机的过程中,用户需要对广播的转换延时时间、命令响应超时时间及从机数量做以配置。需要注意的是,目前协议栈只支持从机地址连续,并且起始地址从1开始

正常使用流程

  1. 调用eMBMasterInit方法初始化Modbus主机协议栈,主机涉及到的一些硬件就在这个时候做了初始化
  2. 调用eMBMasterEnable方法启动Modbus主机
  3. 通过在线程或者定时器轮询调用eMBMasterPoll方法,轮询周期决定了命令的响应时间。
  4. 调用主机请求API方法,设定一定的请求超时时间,直到方法有结果后才会返回。如果方法执行成功并且命令是读命令,可以通过查看Modbus主机的数据缓冲区,获取最新从机数据。

具体的使用方法,可以参考 /samples 目录下的示例代码。调试 Modbus 的主从机程序可以在 PC 上使用 Modbus Poll 和 Modbus slave 软件配合调试。

异常处理流程

异常处理主要出现在主机正常使用过程中,所有的主机请求API的错误码都在第三章开头已经做以描述,针对的这些错误码,用户需要根据自己的产品特征去完成不同的动作。建议用户自己封装实现主机请求方法的重发机制,这样实现方式比较灵活,一般是在接收到帧数据出错及命令响应超时的错误码时需要重发,重发次数自动加一,如果重发次数超过设定值则认为从机掉线,以后所有只要是发给这个从机命令都被提前拦截掉;如果第二次重发命令响应成功,则自动清零该从机重发次数。 上述所有功能可以利用主机请求方法或者使用FreeModbus\port\portevent_m.c中的回调接口来实现,用户可以根据自己的需求灵活选择。

API 详解

Modbus 主机使用过程中与从机有很大不同,从机是需要被动等待主机请求,而主机则是主动发出请求,并接收处理从机响应。在主机发送广播请求的时候,从机不需要返回响应,所以广播请求适合主机的写从机数据命令,不适合读从机数据命令。 主机请求API中的所有方法的返回值格式都相同,返回值意义如下。

返回值 描述
MB_MRE_NO_ERR 正常,没错误
MB_MRE_NO_REG 寄存器、线圈或离散输入地址出错
MB_MRE_ILL_ARG 入参格式有误
MB_MRE_REV_DATA 接收数据出错
MB_MRE_TIMEDOUT 响应超时。主机在设定的时间内未收到从机响应。
MB_MRE_MASTER_BUSY 主机忙。在设定的时间内,请求没有被发送。
MB_MRE_EXE_FUN 主机收到响应后,执行Modbus方法(功能)出错。

所有的主机请求方法都是 线程安全 的也是 阻塞模式 的。在使用过程中,只要在设定的超时时间内没有得到主机资源,就会返回主机忙;如果在设定的超时时间内得到主机资源,那么必须等待得到请求结果后才会返回。

写单个保持寄存器

往从机某个保持寄存器中写入数据

eMBMasterReqErrCode eMBMasterReqWriteHoldingRegister( UCHAR ucSndAddr, 
                                                      USHORT usRegAddr,
                                                      USHORT usRegData,
                                                      LONG lTimeOut );
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usRegAddr 写寄存器的地址
usRegData 写寄存器的数据
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

写多个保持寄存器

往从机多个保持寄存器中写入数据。

eMBMasterReqErrCode eMBMasterReqWriteMultipleHoldingRegister( UCHAR ucSndAddr,
                                                              USHORT usRegAddr,
                                                              USHORT usNRegs, 
                                                              USHORT * pusDataBuffer,
                                                              LONG lTimeOut )
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usRegAddr 写寄存器的起始地址
usNRegs 写寄存器的总数
pusDataBuffer 写寄存器的数据
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

读多个保持寄存器

读取多个保持寄存器中的数据

eMBMasterReqErrCode eMBMasterReqReadHoldingRegister( UCHAR ucSndAddr, 
                                                     USHORT usRegAddr,
                                                     USHORT usNRegs,
                                                     LONG lTimeOut );
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usRegAddr 读寄存器的地址
usRegData 读寄存器的数量
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

读写多个保持寄存器

先读多个寄存器,然后再写多个寄存器。

eMBMasterReqErrCode eMBMasterReqReadWriteMultipleHoldingRegister( UCHAR ucSndAddr,
                                                                  USHORT usReadRegAddr,
                                                                  USHORT usNReadRegs,
                                                                  USHORT * pusDataBuffer,
                                                                  USHORT usWriteRegAddr,
                                                                  USHORT usNWriteRegs,
                                                                  LONG lTimeOut )
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usReadRegAddr 读寄存器的地址
usNReadRegs 读寄存器的数量
pusDataBuffer 写寄存器的数据
usWriteRegAddr 写寄存器的地址
usNWriteRegs 写寄存器的数量
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

读多个输入寄存器

读取多个输入寄存器中的数据

eMBMasterReqErrCode eMBMasterReqReadInputRegister( UCHAR ucSndAddr, 
                                                   USHORT usRegAddr,
                                                   USHORT usNRegs,
                                                   LONG lTimeOut );
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usRegAddr 读寄存器的地址
usRegData 读寄存器的数量
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

写单个线圈

往从机某个线圈中写入数据

eMBMasterReqErrCode eMBMasterReqWriteCoil( UCHAR ucSndAddr,
                                           USHORT usCoilAddr,
                                           USHORT usCoilData,
                                           LONG lTimeOut )
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usCoilAddr 写线圈的地址
usCoilData 写线圈的数量
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

写多个线圈

往从机多个线圈中写入数据。

eMBMasterReqErrCode eMBMasterReqWriteMultipleCoils( UCHAR ucSndAddr,
                                                    USHORT usCoilAddr,
                                                    USHORT usNCoils,
                                                    UCHAR * pucDataBuffer,
                                                    LONG lTimeOut)
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usCoilAddr 写线圈的起始地址
usNCoils 写线圈的总数
pucDataBuffer 写线圈的数据
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

读多个线圈

读取多个线圈中的数据

eMBMasterReqErrCode eMBMasterReqReadCoils( UCHAR ucSndAddr,
                                           USHORT usCoilAddr,
                                           USHORT usNCoils ,
                                           LONG lTimeOut )
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usCoilAddr 读线圈的地址
usNCoils 读线圈的数量
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

读多个离散输入

读取多个离散输入中的数据

eMBMasterReqErrCode eMBMasterReqReadDiscreteInputs( UCHAR ucSndAddr,
                                                    USHORT usDiscreteAddr,
                                                    USHORT usNDiscreteIn,
                                                    LONG lTimeOut )
参数 描述
ucSndAddr 请求的从机地址,0代表广播。
usDiscreteAddr 读离散输入的地址
usNDiscreteIn 读离散输入的数量
lTimeOut 请求超时时间。支持永久等待,使用操作系统的永久等待参数即可。

注意事项

  • 从机支持Modbus RTU 、Modbus ASCII 及Modbus TCP 3种模式,主机现在只支持常用的Modbus RTU模式。
  • 目前协议栈只支持从机地址连续,并且起始地址从1开始

联系方式

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A Modbus ASCII/RTU and TCP implementation 展开 收起
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