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STM32G0开发笔记-Platformio+libopencm3-FreeRTOS和FreeModbus库使用
title: STM32G0开发笔记-Platformio+libopencm3-FreeRTOS和FreeModbus库使用
tags:- STM32
- MCU
- STM32G070
- libopencm3
- MonkeyPi
- FreeRTOS
- Modbus
categories:- STM32
date: 2022-9-11 19:52:05
- STM32
[原文：makerinchina.cn]
使用Platformio平台的libopencm3开发框架来开发STM32G0，以下为FreeRTOS和FreeModbus库使用。
1 新建项目
- 建立freertos_modbus项目
在PIO的Home页面新建项目，项目名称freertos_modbus，选择开发板为 MonkeyPi_STM32_G070RB，开发框架选择libopencm3；
- 项目建立完成后在src目录下新建main.c主程序文件；
- 修改下载和调试方式，这里开发板使用的是DAPLink仿真器，因此修改platformio.ini文件如下：
upload_protocol = cmsis-dap debug_tool = cmsis-dap- 1
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2 编写程序
直接在之前的FreeRTOS工程上进行添加；
2.1 添加 freeModbus 库
从git仓库下载源码： https://github.com/cwalter-at/freemodbus
将下载的源码中的mobus文件夹放置到工程的lib目录下，然后在modbus目录新建library.json文件，内容如下：
{ "name": "FreeModbus", "version": "master", "repository":{ "type":"git", "url":"https://github.com/cwalter-at/freemodbus" }, "build": { "flags": [ "-Iascii", "-Ifunctions", "-Iinclude", "-Irtu", "-Itcp" ], "srcFilter": [ "+<*>" ] } }- 1
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然后从FreeModbus源码中的 demo\BARE\port中复制文件到工程的src\modbus_port文件夹下，最后的文件夹结构如下：
2.2 移植
- portevent:
/* ----------------------- Modbus includes ----------------------------------*/ #include "mb.h" #include "mbport.h" #include "FreeRTOS.h" #include "task.h" /* ----------------------- Variables ----------------------------------------*/ static eMBEventType eQueuedEvent; static BOOL xEventInQueue; static uint32_t modbus_last_active_time = 0; uint32_t get_modbus_last_active_time(void) { return modbus_last_active_time; } /* ----------------------- Start implementation -----------------------------*/ BOOL xMBPortEventInit( void ) { xEventInQueue = FALSE; return TRUE; } BOOL xMBPortEventPost( eMBEventType eEvent ) { xEventInQueue = TRUE; eQueuedEvent = eEvent; if (eEvent == EV_EXECUTE) { modbus_last_active_time = xTaskGetTickCount(); } return TRUE; } BOOL xMBPortEventGet( eMBEventType * eEvent ) { BOOL xEventHappened = FALSE; if( xEventInQueue ) { *eEvent = eQueuedEvent; xEventInQueue = FALSE; xEventHappened = TRUE; } return xEventHappened; }- 1
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- portserial
这里使用RS485，因此需要对RS485使能端口进行配置，其他为串口的配置，然后在发送和接收中断时候调用modbus相关接口进行处理：
#include "port.h" #include "FreeRTOS.h" #include "queue.h" #include#include #include #include /* ----------------------- Modbus includes ----------------------------------*/ #include "mb.h" #include "mbport.h" /* ----------------------- static functions ---------------------------------*/ xQueueHandle uart_queue; #define RS485_1_CLOCK RCC_GPIOB #define RS485_1_EN_PORT GPIOB #define RS485_1_EN_PIN GPIO8 static void rs485_delay(int n) { while (--n) { __asm__ volatile ("nop"); } } static inline void rs485_1_rx_mode(void) { gpio_clear(RS485_1_EN_PORT, RS485_1_EN_PIN); } static inline void rs485_1_tx_mode(void) { gpio_set(RS485_1_EN_PORT, RS485_1_EN_PIN); } static inline void rs485_gpio_init(void) { rcc_periph_clock_enable(RS485_1_CLOCK); gpio_mode_setup(RS485_1_EN_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, RS485_1_EN_PIN); rs485_1_rx_mode(); } /* ----------------------- Start implementation -----------------------------*/ void vMBPortSerialEnable( BOOL xRxEnable, BOOL xTxEnable ) { /* If xRXEnable enable serial receive interrupts. If xTxENable enable * transmitter empty interrupts. */ if (xRxEnable) { rs485_delay(10000); rs485_1_rx_mode(); rs485_delay(10000); usart_enable_rx_interrupt(USART1); } else { usart_disable_rx_interrupt(USART1); } if (xTxEnable) { rs485_delay(10000); rs485_1_tx_mode(); rs485_delay(10000); usart_enable_tx_interrupt(USART1); } else { usart_disable_tx_interrupt(USART1); } } BOOL xMBPortSerialInit( UCHAR ucPORT, ULONG ulBaudRate, UCHAR ucDataBits, eMBParity eParity ) { nvic_enable_irq(NVIC_USART1_IRQ); rcc_periph_clock_enable(RCC_GPIOB); gpio_mode_setup(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO6 | GPIO7); gpio_set_af(GPIOB, GPIO_AF0, GPIO6 | GPIO7); rcc_periph_clock_enable(RCC_USART1); /* Set up USART/UART parameters using the libopencm3 helper functions */ usart_set_baudrate(USART1, ulBaudRate); usart_set_databits(USART1, ucDataBits); usart_set_stopbits(USART1, USART_STOPBITS_1); usart_set_mode(USART1, USART_MODE_TX_RX); switch (eParity) { case MB_PAR_ODD: usart_set_parity(USART1, USART_PARITY_ODD); break; case MB_PAR_EVEN: usart_set_parity(USART1, USART_PARITY_EVEN); break; default: usart_set_parity(USART1, USART_PARITY_NONE); break; } usart_set_flow_control(USART1, USART_FLOWCONTROL_NONE); usart_enable(USART1); rs485_gpio_init(); return TRUE; } BOOL xMBPortSerialPutByte( CHAR ucByte ) { usart_send_blocking(USART1, (uint16_t) ucByte); return TRUE; } BOOL xMBPortSerialGetByte( CHAR * pucByte ) { *pucByte = usart_recv(USART1); return TRUE; } uint32_t uart1_isr, uart1_icr; void usart1_isr(void) { /* Check if we were called because of RXNE. */ if (((USART_CR1(USART1) & USART_CR1_RXNEIE) != 0) && ((USART_ISR(USART1) & USART_ISR_RXNE) != 0)) { /* Retrieve the data from the peripheral. */ // usart_recv(USART1); pxMBFrameCBByteReceived(); } /* Check if we were called because of TXE. */ if (((USART_CR1(USART1) & USART_CR1_TXEIE) != 0) && ((USART_ISR(USART1) & USART_ISR_TXE) != 0)) { /* Put data into the transmit register. */ //usart_send(USART1, data); pxMBFrameCBTransmitterEmpty(); } } - 1
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- porttimer
#include "port.h" #include#include #include /* ----------------------- Modbus includes ----------------------------------*/ #include "mb.h" #include "mbport.h" /* ----------------------- static functions ---------------------------------*/ static void prvvTIMERExpiredISR( void ); /* ----------------------- Start implementation -----------------------------*/ BOOL xMBPortTimersInit( USHORT usTim1Timerout50us ) { rcc_periph_clock_enable(RCC_TIM2); nvic_enable_irq(NVIC_TIM2_IRQ); rcc_periph_reset_pulse(RST_TIM2); timer_set_mode(TIM2, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP); timer_set_prescaler(TIM2, (rcc_apb1_frequency/ 20000)); timer_disable_preload(TIM2); timer_continuous_mode(TIM2); timer_set_period(TIM2, usTim1Timerout50us); timer_enable_counter(TIM2); timer_enable_irq(TIM2, TIM_DIER_UIE); return TRUE; } inline void vMBPortTimersEnable( ) { timer_set_counter(TIM2, 0); timer_enable_counter(TIM2); } inline void vMBPortTimersDisable( ) { timer_disable_counter(TIM2); } /* 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 vMBPortTimersDelay( USHORT usTimeOutMS ) { vTaskDelay(pdMS_TO_TICKS(usTimeOutMS)); } void tim2_isr(void) { if (timer_get_flag(TIM2, TIM_SR_UIF)) { /* Clear compare interrupt flag. */ timer_clear_flag(TIM2, TIM_SR_UIF); prvvTIMERExpiredISR(); } } - 1
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开启定时器和中断，用于modbus时序控制；
2.3 使用
在src目录新建 modbus_cb.h 和 modbus_cb.c 两个文件，实现寄存器、线圈的读写回调：
/// CMD4 eMBErrorCode eMBRegInputCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs ); /// CMD6、3、16 eMBErrorCode eMBRegHoldingCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode ); /// CMD1、5、15 eMBErrorCode eMBRegCoilsCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNCoils, eMBRegisterMode eMode ); /// CMD4 eMBErrorCode eMBRegDiscreteCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNDiscrete );- 1
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基本的实现示例如下：
#include "modbus_cb.h" #include "stdbool.h" extern log(const char* fmt, ...); // 输入寄存器 #define REG_INPUT_SIZE 32 uint16_t REG_INPUT_BUF[REG_INPUT_SIZE]; // 保持寄存器 #define REG_HOLD_SIZE 32 uint16_t REG_HOLD_BUF[REG_HOLD_SIZE]; // 线圈寄存器 #define REG_COILS_SIZE 16 uint8_t REG_COILS_BUF[REG_COILS_SIZE]; // 离散量 #define REG_DISC_SIZE 8 uint8_t REG_DISC_BUF[REG_DISC_SIZE]; /// CMD4 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; } log(" CMD4, 寄存器输入."); // 填充数据 REG_INPUT_BUF[0] = 0x01; REG_INPUT_BUF[1] = 0x02; // 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--; } return MB_ENOERR; } /// CMD6、3、16 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; } log(" CMD3,6,16, 保持寄存器读写."); // 写寄存器 if (eMode == MB_REG_WRITE) { while ( usNRegs > 0 ) { uint16_t value; value = (pucRegBuffer[0] << 8) | pucRegBuffer[1]; log(" 写寄存器值:%d", value); pucRegBuffer += 2; usRegIndex++; usNRegs--; } } // 读寄存器 else { log(" 读寄存器."); REG_HOLD_BUF[0] = 0x32; REG_HOLD_BUF[1] = 0x33; 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 eMBErrorCode eMBRegCoilsCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNCoils, eMBRegisterMode eMode ) { USHORT usRegIndex = usAddress - 1; USHORT usCoilGroups = ((usNCoils - 1) / 8 + 1); UCHAR ucStatus = 0; UCHAR ucBits = 0; UCHAR ucDisp = 0; // 非法检测 if ((usRegIndex + usNCoils) > REG_COILS_SIZE) { return MB_ENOREG; } log(" CMD1,5,15, 线圈读写."); // 写线圈 if (eMode == MB_REG_WRITE) { while (usCoilGroups--) { ucStatus = *pucRegBuffer++; ucBits = 8; while((usNCoils) != 0 && (ucBits) != 0) { bool flag = ucStatus & 0x01; switch (usRegIndex) { case 0: log(" 线圈0 : %d", flag);// break; case 1: log(" 线圈1 : %d", flag); break; default: break; } usRegIndex++; ucStatus >>= 1; usNCoils--; ucBits--; } } } // 读线圈 else { REG_COILS_BUF[0] = 1; REG_COILS_BUF[1] = 0; while (usCoilGroups--) { ucDisp = 0; ucBits = 8; ucStatus = 0; while((usNCoils) != 0 && (ucBits) != 0) { ucStatus |= (REG_COILS_BUF[usRegIndex++] << (ucDisp++)); usNCoils--; ucBits--; } *pucRegBuffer++ = ucStatus; } } return MB_ENOERR; } /// CMD4 eMBErrorCode eMBRegDiscreteCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNDiscrete ) { USHORT usRegIndex = usAddress - 1; USHORT usCoilGroups = ((usNDiscrete - 1) / 8 + 1); UCHAR ucStatus = 0; UCHAR ucBits = 0; UCHAR ucDisp = 0; // 非法检测 if ((usRegIndex + usNDiscrete) > REG_DISC_SIZE) { return MB_ENOREG; } log(" CMD4, 离散寄存器写入."); // 读离散输入 while (usCoilGroups--) { ucDisp = 0; ucBits = 8; ucStatus = 0; while((usNDiscrete != 0) && (ucBits != 0)) { switch (usRegIndex) { case 0: ucStatus = 0x10; break; } usRegIndex++; ucDisp++; usNDiscrete--; ucBits--; } *pucRegBuffer++ = ucStatus; } return MB_ENOERR; }- 1
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在main中创建modbus任务：
static void task_modbus_handle(void *param) { eMBErrorCode eStatus; log(" task modbus start."); eStatus = eMBInit( MB_RTU, 0x01, 0, 9600, MB_PAR_NONE ); /* Enable the Modbus Protocol Stack. */ eStatus = eMBEnable(); (void)eStatus; for( ;; ) { ( void )eMBPoll(); vTaskDelay(pdMS_TO_TICKS(10)); } }- 1
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3 烧写测试
将开发板连接到USB转485模块，然后使用modbus poll程序进行测试：
-
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- 原文地址：https://blog.csdn.net/roctwo/article/details/127894384
