1、modbus RTU 的 AVR 单片机 C程序modbus RTU 的 AVR 单片机 C程序本文转自:新势力单片机 urlhttp:/www.XinShiL/url#include main.h/字地址 0 - 255/位地址 0 - 255/* CRC 高位字节值表 */ const uint8 auchCRCHi = 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81
2、, 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
3、, 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
4、, 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
5、, 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
6、, 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低位字节值表*/ const uint8 auchCRCLo = 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,
7、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,
8、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,
9、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,
10、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,
11、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 testCoil; /用于测试 位地
12、址1uint16 testRegister; /用于测试 字地址0uint8 localAddr = 1; /地址uint8 sendCount; /发送字节个数uint8 receCount; /接收字节个数uint8 sendPosi; /发送位置uint8 sendBuf32,receBuf32; /发送,接收缓冲区 uint8 checkoutError; /校验结果uint8 receTimeOut; /接收超时uint16 crc16(uint8 *puchMsg, uint16 usDataLen) uint8 uchCRCHi = 0xFF ; /* 高CRC字节初始化 */
13、uint8 uchCRCLo = 0xFF ; /* 低CRC 字节初始化 */ uint32 uIndex ; /* CRC循环中的索引 */ while (usDataLen-) /* 传输消息缓冲区 */ uIndex = uchCRCHi *puchMsg+ ; /* 计算CRC */ uchCRCHi = uchCRCLo auchCRCHiuIndex ; uchCRCLo = auchCRCLouIndex ; return (uchCRCHi 1) sendCount-; UDR = sendBuf0;/void beginSend(void)/读线圈状态void readCo
14、il(void) uint8 addr; uint8 tempAddr; uint8 byteCount; uint8 bitCount; uint16 crcData; uint8 position; uint8 i,k; uint8 result; uint16 tempData; uint8 exit = 0; /addr = (receBuf28) + receBuf3; /tempAddr = addr & 0xfff; addr = receBuf3; tempAddr = addr; /bitCount = (receBuf48) + receBuf5; /读取的位个数 bitC
15、ount = receBuf5; byteCount = bitCount / 8; /字节个数 if(bitCount%8 != 0) byteCount+; for(k=0;kbyteCount;k+) /字节位置 position = k + 3; sendBufposition = 0; for(i=0;i8;i+) getCoilVal(tempAddr,&tempData); sendBufposition |= tempData = addr+bitCount) /读完 exit = 1; break; if(exit = 1) break; sendBuf0 = localAd
16、dr; sendBuf1 = 0x01; sendBuf2 = byteCount; byteCount += 3; crcData = crc16(sendBuf,byteCount); sendBufbyteCount = crcData 8; byteCount+; sendBufbyteCount = crcData & 0xff; sendCount = byteCount + 1; beginSend(); /void readCoil(void) /读寄存器void readRegisters(void) uint8 addr; uint8 tempAddr; uint16 re
17、sult; uint16 crcData; uint8 readCount; uint8 byteCount; uint8 finsh; /1完成 0出错 uint16 i; uint16 tempData = 0; /addr = (receBuf28) + receBuf3; /tempAddr = addr & 0xfff; addr = receBuf3; tempAddr = addr; /readCount = (receBuf48) + receBuf5; /要读的个数 readCount = receBuf5; byteCount = readCount * 2; for(i=
18、0;i 8; sendBufi+4 = tempData & 0xff; sendBuf0 = localAddr; sendBuf1 = 3; sendBuf2 = byteCount; byteCount += 3; crcData = crc16(sendBuf,byteCount); sendBufbyteCount = crcData 8; byteCount+; sendBufbyteCount = crcData & 0xff; sendCount = byteCount + 1; beginSend();/void readRegisters(void)/强制单个线圈void
19、forceSingleCoil(void) uint8 addr; uint8 tempAddr; uint16 tempData; uint8 onOff; uint8 i; /addr = (receBuf28) + receBuf3; /tempAddr = addr & 0xfff; addr = receBuf3; tempAddr = addr; /onOff = (receBuf48) + receBuf5; onOff = receBuf4; /if(onOff = 0xff00) if(onOff = 0xff) /设为ON tempData = 1; /else if(on
20、Off = 0x0000) else if(onOff = 0x00) /设为OFF tempData = 0; setCoilVal(tempAddr,tempData); for(i=0;ireceCount;i+) sendBuf = receBuf; sendCount = receCount; beginSend(); /void forceSingleCoil(void)/设置多个寄存器void presetMultipleRegisters(void) uint8 addr; uint8 tempAddr; uint8 byteCount; uint8 setCount; uin
21、t16 crcData; uint16 tempData; uint8 finsh; /为1时完成 为0时出错 uint8 i; /addr = (receBuf28) + receBuf3; /tempAddr = addr & 0xfff; addr = receBuf3; tempAddr = addr; /setCount = (receBuf48) + receBuf5; setCount = receBuf5; byteCount = receBuf6; for(i=0;isetCount;i+,tempAddr+) tempData = (receBufi*2+7 8; send
22、Buf3 = addr & 0xff; sendBuf4 = setCount 8; sendBuf5 = setCount & 0xff; crcData = crc16(sendBuf,6); sendBuf6 = crcData 8; sendBuf7 = crcData & 0xff; sendCount = 8; beginSend(); /void presetMultipleRegisters(void)/检查uart0数据void checkComm0Modbus(void) uint16 crcData; uint16 tempData; if(receCount 4) sw
23、itch(receBuf1) case 1:/读取线圈状态(读取点 16位以内) case 3:/读取保持寄存器(一个或多个) case 5:/强制单个线圈 case 6:/设置单个寄存器 if(receCount = 8) /接收完成一组数据 /应该关闭接收中断 UCSRB &= BIT(7); if(receBuf0=localAddr & checkoutError=0) crcData = crc16(receBuf,6); if(crcData = receBuf7+(receBuf6= tempData) /应该关闭接收中断 UCSRB &= BIT(7); if(receBuf0
24、=localAddr & checkoutError=0) crcData = crc16(receBuf,tempData-2); if(crcData = (receBuftempData-28)+ receBuftempData-1) /forceMultipleCoils(); receCount = 0; checkoutError = 0; UCSRB |= BIT(7); break; case 16:/设置多个寄存器 tempData = (receBuf4= tempData) /应该关闭接收中断 UCSRB &= BIT(7); if(receBuf0=localAddr
25、& checkoutError=0) crcData = crc16(receBuf,tempData-2); if(crcData = (receBuftempData-28)+ receBuftempData-1) presetMultipleRegisters(); receCount = 0; checkoutError = 0; UCSRB |= BIT(7); break; default: break; /void checkComm0(void)/取线圈状态 返回0表示成功uint16 getCoilVal(uint16 addr,uint16 *tempData) uint1
26、6 result = 0; switch(addr & 0xff) case 0: break; case 1: *tempData = testCoil; break; case 2: break; case 3: break; case 4: break; case 5: break; case 6: break; case 7: break; case 8: break; case 9: break; case 10: break; case 11: break; case 12: break; case 13: break; case 14: break; case 15: break; case 16: break; default: break; return result;/uint16 getCoilVal(uint16 addr,uint16 *data)/设定线圈
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