STM32HAL库RS485-ModBus协议控制伺服电机

一个月前，接手了一个学长的毕设小车，小车采用rs485通信的modbus协议驱动轮毂电机，与往常我学习的pwm控制电机方法大相径庭，在这里以这篇博客记录下该学习过程。

小车主要架构

电机型号

中菱轮毂电机

轮毂驱动器ZLAC8015D

• ZLAC8015D 的 RS485 支持 Modbus RTU 协议。
• 驱动器地址为 0-127 可设，默认为 1；
• 波特率 9600、19200、38400、57600、115200、128000、256000 等 7 种， 可通过软件设置。

默认 115200； 数据位 8，无奇偶校验，停止位 1

RS485通信

RS485接口组成的半双工网络，一般是两线制，多采用屏蔽双绞线传输，这种接线方式为总线式拓扑结构在同一总线上最多可以挂接32个结点。我们知道，最初数据是模拟信号输出简单过程量，后来仪表接口是RS232接口，这种接口可以实现点对点的通信方式，但这种方式不能实现联网功能，随后出现的RS485解决了这个问题。为此本文通过问答的形式详细介绍RS485接口。

RS485_RE为高电平的时候，DE为高电平有效，允许发送数据
RS485_RE为低电平的时候，RE为低电平有效，允许接收数据

485转换芯片可以把输入的串口信号转化成差分信号,也可以差分信号转化成串口信号

信号线A、B

A>B	0
B>A	1

STM32实现主从机RS485通信

STM32F103ZET6

RS485接口 A接A B接B

从机：

RS485发送 “Hello World”

char Buff[30];
//*******************
while (1)
  {
    /* USER CODE END WHILE */
      HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET); //拉高发送
      sprintf(Buff,"Hello World");
      HAL_UART_Transmit(&huart2, Buff, sizeof(Buff), 0xffff); 
      HAL_Delay(500);
    /* USER CODE BEGIN 3 */
  }

主机：

RS485接收 “Hello World”

虚拟串口打印

HAL_UART_Receive_IT(&huart2, RxBuff,1);
HAL_GPIO_WritePin(GPIOD,GPIO_PIN_7, GPIO_PIN_RESET);  //拉低接收
//*******************************
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
    uint8_t i;
    if(huart->Instance==USART2)
    {
        HAL_UART_Receive_IT(&huart2,RxBuff,10);
        CDC_Transmit_FS(RxBuff, sizeof(RxBuff));
    }
}

Modbus协议

Modbus就是一种用在工业上的简单协议!

大致分为以下几种:

• Modbus-RTU
• Modbus-ASCII
• Modbus-TCP

以上三种协议，一个设备只会有一种协议，该电机使用的是Modbus-RTU。

Modbus是主从方式通信，也就是说，不能同步进行通信，总线上每次只有一个数据进行传输，即主机发送，从机应答，主机不发送，总线上就没有数据通信。

Modbus Poll主机Modbus Slave从机通信

第三方测试软件：vspd、Modbus Poll、Modbus Slave

虚拟一个串口

修改配置

读取数据

发送

Tx:000024- 01 03 00 00 00 0A C5 CD

01	03	00 00	00 0A	C5 CD
ID号	功能码	起始地址	数据内容	校验码

接收

Rx:000143- 01 03 0A 00 01 00 02 00 01 00 00 00 00 37 26

01	03	0A	00 01 00 02 00 01 00 00 00 00	37 26
ID号	功能码	字节长度	数据内容	校验位

发送单条数据

01	06	00 04	00 03	88 0A
ID号	功能码	起始地址	数据内容	校验码

发送多条数据

主机TX：

ID	功能码	起始地址	寄存器长度	数据内容	校验码
01	16(0X10)	00 00	00 05	10字节	XX XX

Tx:001200- 01 10 00 03 00 01 02 00 04 A7 A0

ID	功能码	起始地址	数据长度	字节长度	数据内容	校验码
01	10	00 03	00 01	02	00 04	A7 A0

功能码：

• 03->读取数据
• 06->发送单条数据
• 10->发送多条数据

SSCOM主机Modbus Slave从机通信

读取数据

发送单条数据

发送多条数据

STM32通过RS485完成Modbus协议通信

移植Modbus协议

mbrtu_master.h

#ifndef MBRTU_MASTER_H_
#define MBRTU_MASTER_H_

#include <stdint.h>
#include <stdlib.h>
#include <stdio.h>
#include "mbrtu_master.h"
#include "usart.h"
#include "tim.h"



/////////////////////////////////////////////////////////////////////////////////////////////////////////
///
/// MODBUS RTU 主机控制结构
///
///
typedef struct
{
	//
	// 收发数据缓存
	//
	uint8_t ucBuf[128];
	
	//
	// 收发数据状态
	//
	uint16_t usStatus;
	
	//
	// 如果使用了RTOS需要进行互斥,那么需要实现以下两个函数的绑定
	//
	void (*lock)(void);
	void (*unlock)(void);
	
	//
	// 微秒延时函数,用于等待超时
	//
	void (*delayms)(uint32_t nms);
	
	//
	// 定时器启动和停止函数
	//
	void (*timerStop)(void);
	void (*timerStart)(void);
	
	//
	// 发送数据函数,可以是串口、TCP等
	//
	uint32_t (*sendData)(const void* buf, uint32_t len);

	//
	// 以下四个回调函数分别是:读线圈、读离散量输入、读保持寄存器、读输入寄存器
	//
	void (*readCoilsCallback)(uint16_t usStartAddr, uint16_t usNum, const uint8_t* pucBitsOfCoilsState, uint16_t usLen);
	void (*readDiscreteInputsCallback)(uint16_t usStartAddr, uint16_t usNum, const uint8_t* pucBitsOfDiscreteInputsState, uint16_t usLen);
	void (*readHoldingRegistersCallback)(uint16_t usStartAddr, uint16_t usNum, const uint16_t* pusHoldingRegistersVal, uint16_t usLen);
	void (*readInputRegistersCallback)(uint16_t usStartAddr, uint16_t usNum, const uint16_t* pusInputRegistersVal, uint16_t usLen);

}MBRTUMaterTypeDef;

/////////////////////////////////////////////////////////////////////////////////////////////////////////
static void timerStop(void);
static void timerStart(void);
static void delayms(uint32_t nms);
static uint32_t sendData(const void *buf, uint32_t len);
static void readCoilsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfCoilsState, uint16_t usLen);
static void readDiscreteInputsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfDiscreteInputsState, uint16_t usLen);
static void readHoldingRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusHoldingRegistersVal, uint16_t usLen);
static void readInputRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusInputRegistersVal, uint16_t usLen);

/////////////////////////////////////////////////////////////////////////////////////////////////////////
///
/// MODBUS RTU 主机 API
///
///
int MBRTUMasterReadCoils(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadDiscreteInputs(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadHoldingRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterReadInputRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout);
int MBRTUMasterWriteSingleCoil(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint8_t ucState, uint16_t usTimeout);
int MBRTUMasterWriteSingleRegister(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usRegVal, uint16_t usTimeout);
int MBRTUMasterWriteMultipleCoils(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint8_t* pucStateBitsBuf, uint16_t usTimeout);
int MBRTUMasterWriteMultipleRegisters(MBRTUMaterTypeDef* psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint16_t* pusRegVal, uint16_t usTimeout);

/////////////////////////////////////////////////////////////////////////////////////////////////////////
///
/// MODBUS RTU 主机接收数据回调函数和超时回调函数
/// 
/// MBRTUMasterRecvByteISRCallback：放置于串口接收中断中
/// MBRTUMasterTimerISRCallback：放置于定时器超时中断中
///
void MBRTUMasterRecvByteISRCallback(MBRTUMaterTypeDef* psModbus, uint8_t ucByte);
void MBRTUMasterTimerISRCallback(MBRTUMaterTypeDef* psModbus);

#endif /* MBRTU_MASTER_H_ */

mbrtu_master.c

/*
 * mbrtu_master.c
 *
 *  Created on: 2022年4月29日
 *      Author: hello
 */

#include "mbrtu_master.h"

static uint16_t usMBCRC16(uint8_t *pucFrame, uint16_t usLen)
{
    static const uint8_t aucCRCHi[] =
        {
            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, 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, 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, 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, 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, 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};

    static const uint8_t aucCRCLo[] =
        {
            0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 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,
            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, 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, 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, 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_t ucCRCHi = 0xFF;
    uint8_t ucCRCLo = 0xFF;
    int iIndex;

    while (usLen--)
    {
        iIndex = ucCRCLo ^ *(pucFrame++);
        ucCRCLo = (uint8_t)(ucCRCHi ^ aucCRCHi[iIndex]);
        ucCRCHi = aucCRCLo[iIndex];
    }
    return (uint16_t)(ucCRCHi << 8 | ucCRCLo);
}

//读取数据
static uint32_t MBRTUMasterRead(MBRTUMaterTypeDef *pMaster, uint8_t ucSlaveAddr, uint8_t ucCmd, uint16_t usStartAddr, uint16_t usNum)
{
    uint16_t crc;

    pMaster->ucBuf[0] = ucSlaveAddr;
    pMaster->ucBuf[1] = ucCmd;
    pMaster->ucBuf[2] = ((usStartAddr & 0XFF00) >> 8);
    pMaster->ucBuf[3] = (usStartAddr & 0XFF);
    pMaster->ucBuf[4] = ((usNum & 0XFF00) >> 8);
    pMaster->ucBuf[5] = (usNum & 0XFF);

    crc = usMBCRC16((uint8_t *)pMaster->ucBuf, 6);
    pMaster->ucBuf[6] = (uint8_t)(crc & 0xFF);
    pMaster->ucBuf[7] = (uint8_t)(crc >> 8);

    return pMaster->sendData(pMaster->ucBuf, 8);
}

/**
 * 主机读取线圈状态
 * @param  ucSlaveAddress 从机地址
 * @param  usAddress      要读取的线圈起始地址
 * @param  usCmd          0x01
 * @param  usNum          要读取的线圈数量
 * @param  usTimeout      超时时间,单位毫秒
 * @return                0:成功  <0:执行失败
 */
int MBRTUMasterReadCoils(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{
    int ret = -1;
    int delay;

    if (psModbus->lock != NULL)
    {
        psModbus->lock();
    }

    psModbus->usStatus = 0;

    MBRTUMasterRead(psModbus, ucSlaveAddress, 0X01, usAddress, usNum);

    while (usTimeout != 0)
    {
        if (psModbus->usStatus & 0X8000)
        {
            if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X01)
            {
                psModbus->readCoilsCallback(usAddress, usNum, &psModbus->ucBuf[3], psModbus->ucBuf[2]);
                ret = 0;
            }
            else
            {
                ret = -2;
            }
            psModbus->usStatus = 0;
            break;
        }
        delay = usTimeout > 5 ? 5 : usTimeout;
        usTimeout -= delay;
        psModbus->delayms(delay);
    }

    if (psModbus->unlock != NULL)
    {
        psModbus->unlock();
    }

    return ret;
}

/**
 * 主机读取离散量输入
 * @param  ucSlaveAddress 从机地址
 * @param  usAddress      要读取的离散量起始地址
 * @param  usCmd          0x02
 * @param  usNum          要读取的离散量数量
 * @param  usTimeout      超时时间,单位毫秒
 * @return                0:成功  <0:执行失败
 */
int MBRTUMasterReadDiscreteInputs(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{
    int ret = -1;
    int delay;

    if (psModbus->lock != NULL)
    {
        psModbus->lock();
    }

    psModbus->usStatus = 0;

    MBRTUMasterRead(psModbus, ucSlaveAddress, 0X02, usAddress, usNum);

    while (usTimeout != 0)
    {
        if (psModbus->usStatus & 0X8000)
        {
            if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X02)
            {
                psModbus->readDiscreteInputsCallback(usAddress, usNum, &psModbus->ucBuf[3], psModbus->ucBuf[2]);
                ret = 0;
            }
            else
            {
                ret = -2;
            }
            psModbus->usStatus = 0;
            break;
        }
        delay = usTimeout > 5 ? 5 : usTimeout;
        usTimeout -= delay;
        psModbus->delayms(delay);
    }

    if (psModbus->unlock != NULL)
    {
        psModbus->unlock();
    }

    return ret;
}

/**
 * 主机读取保持寄存器!!!!!!!!!!!!
 * @param  ucSlaveAddress 从机地址
 * @param  usAddress      要读取的保持寄存器起始地址
 * @param  usCmd          0x03
 * @param  usNum          要读取的保持寄存器数量
 * @param  usTimeout      超时时间,单位毫秒
 * @return                0:成功  <0:执行失败
 */
int MBRTUMasterReadHoldingRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{
    int ret = -1;
    int delay;

    if (psModbus->lock != NULL)
    {
        psModbus->lock();
    }

    psModbus->usStatus = 0;

    MBRTUMasterRead(psModbus, ucSlaveAddress, 0X03, usAddress, usNum);

    while (usTimeout != 0)
    {
        if (psModbus->usStatus & 0X8000)
        {
            if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X03)
            {
                psModbus->readHoldingRegistersCallback(usAddress, usNum, (const uint16_t *)&psModbus->ucBuf[3], psModbus->ucBuf[2] >> 1);
                ret = 0;
            }
            else
            {
                ret = -2;
            }
            psModbus->usStatus = 0;
            break;
        }
        delay = usTimeout > 5 ? 5 : usTimeout;
        usTimeout -= delay;
        psModbus->delayms(delay);
    }

    if (psModbus->unlock != NULL)
    {
        psModbus->unlock();
    }

    return ret;
}

/**
 * 主机读取输入寄存器
 * @param  ucSlaveAddress 从机地址
 * @param  usAddress      要读取的输入寄存器起始地址
 * @param  usCmd          0x04
 * @param  usNum          要读取的输入寄存器数量
 * @param  usTimeout      超时时间,单位毫秒
 * @return                0:成功  <0:执行失败
 */
int MBRTUMasterReadInputRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, uint16_t usTimeout)
{
    int ret = -1;
    int delay;

    if (psModbus->lock != NULL)
    {
        psModbus->lock();
    }

    psModbus->usStatus = 0;

    MBRTUMasterRead(psModbus, ucSlaveAddress, 0X04, usAddress, usNum);

    while (usTimeout != 0)
    {
        if (psModbus->usStatus & 0X8000)
        {
            if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X04)
            {
                psModbus->readInputRegistersCallback(usAddress, usNum, (const uint16_t *)&psModbus->ucBuf[3], psModbus->ucBuf[2] >> 1);
                ret = 0;
            }
            else
            {
                ret = -2;
            }
            psModbus->usStatus = 0;
            break;
        }
        delay = usTimeout > 5 ? 5 : usTimeout;
        usTimeout -= delay;
        psModbus->delayms(delay);
    }

    if (psModbus->unlock != NULL)
    {
        psModbus->unlock();
    }

    return ret;
}

/**
 * 主机写单个线圈
 * @param  ucSlaveAddress 从机地址
 * @param  usAddress      线圈地址
 * @param  usCmd          0x05
 * @param  ucState        要设置的线圈状态，1或者0
 * @param  usTimeout      超时时间,单位毫秒
 * @return                0:成功  <0:执行失败
 */

int MBRTUMasterWriteSingleCoil(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint8_t ucState, uint16_t usTimeout)
{
    int ret = -1;
    int delay;
    uint16_t crc;

    if (psModbus->lock != NULL)
    {
        psModbus->lock();
    }

    psModbus->ucBuf[0] = ucSlaveAddress;
    psModbus->ucBuf[1] = 0X05;
    psModbus->ucBuf[2] = usAddress & 0XFF;
    psModbus->ucBuf[3] = usAddress >> 8;
    psModbus->ucBuf[4] = ucState ? 0XFF : 0X00;
    psModbus->ucBuf[5] = 0X00;
    crc = usMBCRC16((uint8_t *)psModbus->ucBuf, 6);
    psModbus->ucBuf[6] = (uint8_t)(crc & 0xFF);
    psModbus->ucBuf[7] = (uint8_t)(crc >> 8);

    psModbus->usStatus = 0;
    psModbus->sendData(psModbus->ucBuf, 8);

    while (usTimeout != 0)
    {
        if (psModbus->usStatus & 0X8000)
        {
            if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X05)
            {
                ret = 0;
            }
            else
            {
                ret = -2;
            }
            psModbus->usStatus = 0;
            break;
        }
        delay = usTimeout > 5 ? 5 : usTimeout;
        usTimeout -= delay;
        psModbus->delayms(delay);
    }

    if (psModbus->unlock != NULL)
    {
        psModbus->unlock();
    }

    return ret;
}

/**
 * 主机写单个寄存器!!!!!!!!!!!
 * @param  ucSlaveAddress 从机地址
 * @param  usAddress      寄存器地址
 * @param  usCmd          0x06
 * @param  usRegVal       寄存器值
 * @param  usTimeout      超时时间,单位毫秒
 * @return                0:成功  <0:执行失败
 */
//	MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, RUN_MODE_ADDR, 0x0003, 100);
int MBRTUMasterWriteSingleRegister(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usRegVal, uint16_t usTimeout)
{
    int ret = -1;
    int delay;
    uint16_t crc;

    if (psModbus->lock != NULL)
    {
        psModbus->lock();
    }

    psModbus->ucBuf[0] = ucSlaveAddress;
    psModbus->ucBuf[1] = 0X06;
    psModbus->ucBuf[2] = usAddress & 0XFF;
    psModbus->ucBuf[3] = usAddress >> 8;
    psModbus->ucBuf[4] = usRegVal >> 8;
    psModbus->ucBuf[5] = usRegVal & 0XFF;
    crc = usMBCRC16((uint8_t *)psModbus->ucBuf, 6);
    psModbus->ucBuf[6] = (uint8_t)(crc & 0xFF);
    psModbus->ucBuf[7] = (uint8_t)(crc >> 8);

    psModbus->usStatus = 0;
    psModbus->sendData(psModbus->ucBuf, 8);

    while (usTimeout != 0)
    {
        if (psModbus->usStatus & 0X8000)
        {
            if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X06)
            {
                ret = 0;
            }
            else
            {
                ret = -2;
            }
            psModbus->usStatus = 0;
            break;
        }
        delay = usTimeout > 5 ? 5 : usTimeout;
        usTimeout -= delay;
        psModbus->delayms(delay);
    }

    if (psModbus->unlock != NULL)
    {
        psModbus->unlock();
    }

    return ret;
}

/**
 * 主机写多个线圈状态
 * @param  ucSlaveAddress  从机地址
 * @param  usAddress       线圈起始地址
 * @param  usNum           要写的线圈数量
 * @param  pucStateBitsBuf 存放线圈状态，1比特代表一个线圈状态
 * @param  usTimeout      超时时间,单位毫秒
 * @return                0:成功  <0:执行失败
 */
int MBRTUMasterWriteMultipleCoils(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint8_t *pucStateBitsBuf, uint16_t usTimeout)
{
    int ret = -1;
    int delay;
    uint16_t crc;
    uint16_t usIndex = 0, usBytes = 0;

    if (psModbus->lock != NULL)
    {
        psModbus->lock();
    }

    psModbus->ucBuf[usIndex++] = ucSlaveAddress;
    psModbus->ucBuf[usIndex++] = 0X0F;
    psModbus->ucBuf[usIndex++] = usAddress & 0XFF;
    psModbus->ucBuf[usIndex++] = usAddress >> 8;
    psModbus->ucBuf[usIndex++] = usNum >> 8;
    psModbus->ucBuf[usIndex++] = usNum & 0XFF;

    usBytes = (usNum - 1) / 8 + 1;
    psModbus->ucBuf[usIndex++] = usBytes;

    while (usBytes--)
    {
        psModbus->ucBuf[usIndex++] = *pucStateBitsBuf++;
    }

    crc = usMBCRC16((uint8_t *)psModbus->ucBuf, usIndex);
    psModbus->ucBuf[usIndex++] = (uint8_t)(crc & 0xFF);
    psModbus->ucBuf[usIndex++] = (uint8_t)(crc >> 8);

    psModbus->usStatus = 0;
    psModbus->sendData(psModbus->ucBuf, usIndex);

    while (usTimeout != 0)
    {
        if (psModbus->usStatus & 0X8000)
        {
            if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X0F)
            {
                ret = 0;
            }
            else
            {
                ret = -2;
            }
            psModbus->usStatus = 0;
            break;
        }
        delay = usTimeout > 5 ? 5 : usTimeout;
        usTimeout -= delay;
        psModbus->delayms(delay);
    }

    if (psModbus->unlock != NULL)
    {
        psModbus->unlock();
    }

    return ret;
}

/**
 * 主机写多个寄存器!!!!!!!!!!!
 * @param  ucSlaveAddress 从机地址
 * @param  usAddress      要写的寄存器起始地址
 * @param  usCmd          0x10
 * @param  usNum          要写的寄存器数量
 * @param  pusRegVal      存放要写的寄存器值
 * @param  usTimeout      超时时间,单位毫秒
 * @return                0:成功  <0:执行失败
 */
int MBRTUMasterWriteMultipleRegisters(MBRTUMaterTypeDef *psModbus, uint8_t ucSlaveAddress, uint16_t usAddress, uint16_t usNum, const uint16_t *pusRegVal, uint16_t usTimeout)
{
    int ret = -1;
    int delay;
    uint16_t crc;
    uint16_t usIndex = 0;

    if (psModbus->lock != NULL)
    {
        psModbus->lock();
    }

    psModbus->ucBuf[usIndex++] = ucSlaveAddress;
    psModbus->ucBuf[usIndex++] = 0X10;
    psModbus->ucBuf[usIndex++] = usAddress & 0XFF;
    psModbus->ucBuf[usIndex++] = usAddress >> 8;
    psModbus->ucBuf[usIndex++] = usNum >> 8;
    psModbus->ucBuf[usIndex++] = usNum & 0XFF;
    psModbus->ucBuf[usIndex++] = usNum << 1;

    while (usNum--)
    {
        psModbus->ucBuf[usIndex++] = *pusRegVal >> 8;
        psModbus->ucBuf[usIndex++] = *pusRegVal & 0XFF;
        pusRegVal++;
    }

    crc = usMBCRC16((uint8_t *)psModbus->ucBuf, usIndex);
    psModbus->ucBuf[usIndex++] = (uint8_t)(crc & 0xFF);
    psModbus->ucBuf[usIndex++] = (uint8_t)(crc >> 8);

    psModbus->usStatus = 0;
    psModbus->sendData(psModbus->ucBuf, usIndex);

    while (usTimeout != 0)
    {
        if (psModbus->usStatus & 0X8000)
        {
            if (psModbus->ucBuf[0] == ucSlaveAddress && psModbus->ucBuf[1] == 0X10)
            {
                ret = 0;
            }
            else
            {
                ret = -2;
            }
            psModbus->usStatus = 0;
            break;
        }
        delay = usTimeout > 5 ? 5 : usTimeout;
        usTimeout -= delay;
        psModbus->delayms(delay);
    }

    if (psModbus->unlock != NULL)
    {
        psModbus->unlock();
    }

    return ret;
}

void MBRTUMasterRecvByteISRCallback(MBRTUMaterTypeDef *psModbus, uint8_t ucByte)
{
    psModbus->timerStop();
    if (psModbus->usStatus < sizeof(psModbus->ucBuf))
    {
        psModbus->ucBuf[psModbus->usStatus++] = ucByte;
        psModbus->timerStart();
    }
    else
    {
        psModbus->usStatus |= 0X8000;
    }
}

void MBRTUMasterTimerISRCallback(MBRTUMaterTypeDef *psModbus)
{
    psModbus->timerStop();
    psModbus->usStatus |= 0X8000;
}

#ifdef USE_RTOS

static void mutex_lock(void)
{
}

static void mutex_unlock(void)
{
}

#endif

static void timerStop(void)
{
    HAL_TIM_Base_Stop_IT(&htim3);
}

static void timerStart(void)
{
    __HAL_TIM_SET_COUNTER(&htim3, 0);
    HAL_TIM_Base_Start_IT(&htim3);
}

static void delayms(uint32_t nms)
{
    HAL_Delay(nms);
}

static uint32_t sendData(const void *buf, uint32_t len)
{
    if (HAL_UART_Transmit(&huart2, (uint8_t *)buf, len, 100) != HAL_OK)
    {
        len = 0;
    }
    return len;
}

static void readCoilsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfCoilsState, uint16_t usLen)
{
    uint8_t ucLoops = (usNum - 1) / 8 + 1;
    uint8_t ucState, ucBits;

    printf(" Read %d coils starting at start address %d: ", usNum, usStartAddr);

    while (ucLoops != 0)
    {
        ucState = *pucBitsOfCoilsState++;
        ucBits = 0;
        while (usNum != 0 && ucBits < 8)
        {
            printf("%d ", ucState & 0X01 ? 1 : 0);
            ucState >>= 1;
            usNum--;
            ucBits++;
        }
        ucLoops--;
    }

    printf("\r\n");
}

static void readDiscreteInputsCallback(uint16_t usStartAddr, uint16_t usNum, const uint8_t *pucBitsOfDiscreteInputsState, uint16_t usLen)
{
    uint8_t ucLoops = (usNum - 1) / 8 + 1;
    uint8_t ucState, ucBits;

    printf(" Read %d discrete inputs starting at start address %d: ", usNum, usStartAddr);

    while (ucLoops != 0)
    {
        ucState = *pucBitsOfDiscreteInputsState++;
        ucBits = 0;
        while (usNum != 0 && ucBits < 8)
        {
            printf("%d ", ucState & 0X01 ? 1 : 0);
            ucState >>= 1;
            usNum--;
            ucBits++;
        }
        ucLoops--;
    }

    printf("\r\n");
}

static void readHoldingRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusHoldingRegistersVal, uint16_t usLen)
{
    uint16_t val;
    printf(" Read %d hold registers starting at start address %d: ", usNum, usStartAddr);
    while (usLen--)
    {
        val = *pusHoldingRegistersVal++;
        val = ((val & 0X00FF) << 8) | ((val & 0XFF00) >> 8); // 转换大小端
        printf("%04X ", val);
    }
    printf("\r\n");
}

static void readInputRegistersCallback(uint16_t usStartAddr, uint16_t usNum, const uint16_t *pusInputRegistersVal, uint16_t usLen)
{
    uint16_t val;
    printf(" Read %d input registers starting at start address %d: ", usNum, usStartAddr);
    while (usLen--)
    {
        val = *pusInputRegistersVal++;
        val = ((val & 0X00FF) << 8) | ((val & 0XFF00) >> 8); // 转换大小端
        printf("%04X ", val);
    }
    printf("\r\n");
}

MBRTUMaterTypeDef MBRTUHandle =
        {
                .delayms = delayms,
                .timerStart = timerStart,
                .timerStop = timerStop,
                .sendData = sendData,
                .readCoilsCallback = readCoilsCallback,
                .readDiscreteInputsCallback = readDiscreteInputsCallback,
                .readHoldingRegistersCallback = readHoldingRegistersCallback,
                .readInputRegistersCallback = readInputRegistersCallback,

#ifdef USE_RTOS // 使用了RTOS那么需要实现互斥
                .lock = mutex_lock,
                .unlock = mutex_unlock,
#endif
        };

main.c

TX

extern MBRTUMaterTypeDef MBRTUHandle;
void main(){
/*.............*/
 
while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
      HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_SET); //拉高发送
      MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 6, 0X0501, 100);
      HAL_Delay(1000);
  }}

STM32主机Modbus Slave从机通信

#include "mbrtu_master.h"

extern MBRTUMaterTypeDef MBRTUHandle;
for(j=0; j<=255;j++) {
    for(i=0;i<=8;i++) {
        MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, i, j, 100);
        HAL_Delay(1000);
    }
}

STM32按键控制发送ZLAC8015D电机指令

      if (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1) {
            /*延时一小段时间，消除抖动*/
            HAL_Delay(10);
            /*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/
            if (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1) {
                /*等待按键弹开才退出按键扫描函数*/
                while (HAL_GPIO_ReadPin(WK_UP_GPIO_Port, WK_UP_Pin) == 1);
                MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200D, 0x0003, 100);

//                MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2088, 0X0064, 100);
            }
        }
        if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0) {
            /*延时一小段时间，消除抖动*/
            HAL_Delay(10);
            /*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/
            if (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0) {
                /*等待按键弹开才退出按键扫描函数*/
                while (HAL_GPIO_ReadPin(KEY0_GPIO_Port, KEY0_Pin) == 0);
           
                MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200E, 0x0008, 100);
                HAL_Delay(10);
                MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X200E, 0x0010, 100);
            }
        }
        if (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0) {
            /*延时一小段时间，消除抖动*/
            HAL_Delay(10);
            /*延时时间后再来判断按键状态，如果还是按下状态说明按键确实被按下*/
            if (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0) {
                /*等待按键弹开才退出按键扫描函数*/
                while (HAL_GPIO_ReadPin(KEY1_GPIO_Port, KEY1_Pin) == 0);
                MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2088, 0X0064, 100);
//                HAL_Delay(10);
                MBRTUMasterWriteSingleRegister(&MBRTUHandle, 1, 0X2089, 0X0064, 100);
                HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_5);
            }
        }
    }

指令依次是

设置速度模式

使能

电机同步启动

设置左电机目标转速100RPM

设置右点击目标转速100RPM

、