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第一次提交：完成了网关的单路485数据采集，还有以太网链接和MQTT配置，实现数据上报和命令下发，差一个断网储存

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Wang Beihong
2026-02-01 18:31:06 +08:00
commit b284cb4953
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components/MODBUS_ESP/CMakeLists.txt Normal file
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idf_component_register(SRCS "MODBUS_ESP.c"
INCLUDE_DIRS "include"
REQUIRES driver RS-485-SP3485EEN)

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components/MODBUS_ESP/MODBUS_ESP.c Normal file
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#include <stdio.h>
#include <string.h>
#include "MODBUS_ESP.h"
#include "esp_log.h"
#include "RS-485-SP3485EEN.h"
#define TAG "MODBUS_ESP"
// CRC-16表（多项式0xA001）
static const uint16_t crc16_table[256] = {
0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
};
uint16_t modbus_crc16(const uint8_t *data, size_t len)
{
uint16_t crc = 0xFFFF;
for (size_t i = 0; i < len; i++) {
crc = (crc >> 8) ^ crc16_table[(crc ^ data[i]) & 0xFF];
}
return crc;
}
bool modbus_verify_crc(const uint8_t *data, size_t len)
{
if (len < 3) {
ESP_LOGE(TAG, "Frame too short for CRC verification");
return false;
}
// 计算除最后2字节外的CRC
uint16_t calculated_crc = modbus_crc16(data, len - 2);
// 获取帧中的CRC（小端序）
uint16_t frame_crc = ((uint16_t)data[len - 1] << 8) | data[len - 2];
if (calculated_crc != frame_crc) {
ESP_LOGE(TAG, "CRC mismatch: calculated=0x%04X, frame=0x%04X", calculated_crc, frame_crc);
return false;
}
return true;
}
bool modbus_build_read_holding_req(uint8_t slave_addr, uint16_t start_addr, uint16_t reg_count,
uint8_t *frame, size_t *frame_len)
{
if (frame == NULL || frame_len == NULL) {
ESP_LOGE(TAG, "Invalid parameters");
return false;
}
// 参数检查
if (reg_count == 0 || reg_count > 125) {
ESP_LOGE(TAG, "Invalid register count: %d", reg_count);
return false;
}
// 构建请求帧（8字节）
frame[0] = slave_addr; // 从机地址
frame[1] = MODBUS_FUNC_READ_HOLDING_REGISTERS; // 功能码 0x03
frame[2] = (start_addr >> 8) & 0xFF; // 起始地址高字节
frame[3] = start_addr & 0xFF; // 起始地址低字节
frame[4] = (reg_count >> 8) & 0xFF; // 寄存器数量高字节
frame[5] = reg_count & 0xFF; // 寄存器数量低字节
// 计算CRC
uint16_t crc = modbus_crc16(frame, 6);
frame[6] = crc & 0xFF; // CRC低字节
frame[7] = (crc >> 8) & 0xFF; // CRC高字节
*frame_len = 8;
ESP_LOGI(TAG, "Built request: slave=%d, start_addr=0x%04X, reg_count=%d",
slave_addr, start_addr, reg_count);
ESP_LOG_BUFFER_HEX(TAG, frame, 8);
return true;
}
bool modbus_parse_response(const uint8_t *frame, size_t frame_len, modbus_response_t *response)
{
if (frame == NULL || response == NULL) {
ESP_LOGE(TAG, "Invalid parameters");
return false;
}
// 初始化响应结构体
memset(response, 0, sizeof(modbus_response_t));
response->registers = NULL;
// 验证CRC
if (!modbus_verify_crc(frame, frame_len)) {
ESP_LOGE(TAG, "CRC verification failed");
return false;
}
// 解析基本字段
response->slave_addr = frame[0];
response->function_code = frame[1];
ESP_LOGI(TAG, "Parsing response: slave=%d, func=0x%02X", response->slave_addr, response->function_code);
// 检查是否为异常响应（功能码最高位置1）
if (response->function_code & 0x80) {
response->is_exception = true;
response->exception_code = frame[2];
ESP_LOGW(TAG, "Exception response: code=0x%02X", response->exception_code);
return true; // 异常响应也算解析成功
}
// 正常响应，仅处理功能码03
if (response->function_code != MODBUS_FUNC_READ_HOLDING_REGISTERS) {
ESP_LOGE(TAG, "Unsupported function code: 0x%02X", response->function_code);
return false;
}
response->is_exception = false;
// 检查最小长度（地址+功能码+字节数+CRC = 5字节）
if (frame_len < 5) {
ESP_LOGE(TAG, "Frame too short: %d", frame_len);
return false;
}
// 获取字节数
response->byte_count = frame[2];
// 检查帧长度是否正确
size_t expected_len = 3 + response->byte_count + 2; // 3字节头部 + 数据 + 2字节CRC
if (frame_len != expected_len) {
ESP_LOGE(TAG, "Frame length mismatch: expected=%d, actual=%d", expected_len, frame_len);
return false;
}
// 计算寄存器数量
response->register_count = response->byte_count / 2;
if (response->register_count == 0) {
ESP_LOGW(TAG, "No registers in response");
return true;
}
// 分配内存存储寄存器数据
response->registers = malloc(response->register_count * sizeof(uint16_t));
if (response->registers == NULL) {
ESP_LOGE(TAG, "Failed to allocate memory for registers");
return false;
}
// 解析寄存器数据（大端序）
for (uint8_t i = 0; i < response->register_count; i++) {
response->registers[i] = ((uint16_t)frame[3 + i * 2] << 8) | frame[3 + i * 2 + 1];
}
ESP_LOGI(TAG, "Parsed successfully: %d registers", response->register_count);
return true;
}
void modbus_free_response(modbus_response_t *response)
{
if (response != NULL && response->registers != NULL) {
free(response->registers);
response->registers = NULL;
}
}
// ============================
// MODBUS轮询任务相关
// ============================
static TaskHandle_t poll_task_handle = NULL;
static modbus_poll_config_t current_config = {0};
static SemaphoreHandle_t config_mutex = NULL;
/**
* @brief MODBUS轮询任务函数
*/
static void modbus_poll_task(void *arg)
{
ESP_LOGI(TAG, "MODBUS poll task started");
// 分配发送帧缓冲区
uint8_t request_frame[8];
size_t frame_len;
while (1) {
// 检查任务是否应该退出
if (poll_task_handle == NULL) {
break;
}
// 获取配置（互斥保护）
xSemaphoreTake(config_mutex, portMAX_DELAY);
bool enabled = current_config.enabled;
int channel_num = current_config.channel_num;
uint8_t slave_addr = current_config.slave_addr;
uint16_t start_addr = current_config.start_addr;
uint16_t reg_count = current_config.reg_count;
uint32_t poll_interval_ms = current_config.poll_interval_ms;
xSemaphoreGive(config_mutex);
// 检查是否启用
if (!enabled) {
vTaskDelay(pdMS_TO_TICKS(100));
continue;
}
// 验证通道号
if (channel_num < 0 || channel_num >= NUM_CHANNELS) {
ESP_LOGE(TAG, "Invalid channel number: %d", channel_num);
vTaskDelay(pdMS_TO_TICKS(1000));
continue;
}
// 构建MODBUS请求帧
if (modbus_build_read_holding_req(slave_addr, start_addr, reg_count, request_frame, &frame_len)) {
// 获取RS485通道
rs485_channel_t *ch = &rs485_channels[channel_num];
// 发送请求
ESP_LOGI(TAG, "Polling: channel=%s, slave=%d, addr=0x%04X, count=%d",
ch->name, slave_addr, start_addr, reg_count);
rs485_send(ch->uart_num, request_frame, frame_len);
} else {
ESP_LOGE(TAG, "Failed to build MODBUS request frame");
}
// 等待下一次轮询
vTaskDelay(pdMS_TO_TICKS(poll_interval_ms));
}
ESP_LOGI(TAG, "MODBUS poll task exiting");
poll_task_handle = NULL;
vTaskDelete(NULL);
}
BaseType_t modbus_start_poll_task(modbus_poll_config_t *config, UBaseType_t priority, uint32_t stack_size)
{
if (config == NULL) {
ESP_LOGE(TAG, "Invalid config parameter");
return pdFALSE;
}
// 参数验证
if (config->channel_num < 0 || config->channel_num >= NUM_CHANNELS) {
ESP_LOGE(TAG, "Invalid channel number: %d", config->channel_num);
return pdFALSE;
}
if (config->reg_count == 0 || config->reg_count > 125) {
ESP_LOGE(TAG, "Invalid register count: %d", config->reg_count);
return pdFALSE;
}
if (config->poll_interval_ms < 100) {
ESP_LOGE(TAG, "Poll interval too short (minimum 100ms): %d", config->poll_interval_ms);
return pdFALSE;
}
// 如果任务已存在，先停止
if (poll_task_handle != NULL) {
modbus_stop_poll_task();
vTaskDelay(pdMS_TO_TICKS(100));
}
// 创建互斥量
if (config_mutex == NULL) {
config_mutex = xSemaphoreCreateMutex();
if (config_mutex == NULL) {
ESP_LOGE(TAG, "Failed to create config mutex");
return pdFALSE;
}
}
// 保存配置
xSemaphoreTake(config_mutex, portMAX_DELAY);
memcpy(&current_config, config, sizeof(modbus_poll_config_t));
current_config.enabled = true;
xSemaphoreGive(config_mutex);
// 创建轮询任务
BaseType_t ret = xTaskCreate(modbus_poll_task, "modbus_poll", stack_size, NULL, priority, &poll_task_handle);
if (ret == pdPASS) {
ESP_LOGI(TAG, "MODBUS poll task started successfully");
ESP_LOGI(TAG, "Config: channel=%d, slave=%d, start_addr=0x%04X, reg_count=%d, interval=%dms",
config->channel_num, config->slave_addr, config->start_addr,
config->reg_count, config->poll_interval_ms);
} else {
ESP_LOGE(TAG, "Failed to create MODBUS poll task");
}
return ret;
}
void modbus_stop_poll_task(void)
{
if (poll_task_handle != NULL) {
ESP_LOGI(TAG, "Stopping MODBUS poll task...");
// 禁用轮询
xSemaphoreTake(config_mutex, portMAX_DELAY);
current_config.enabled = false;
xSemaphoreGive(config_mutex);
// 等待任务退出
vTaskDelay(pdMS_TO_TICKS(200));
// 删除任务
TaskHandle_t temp_handle = poll_task_handle;
poll_task_handle = NULL;
vTaskDelete(temp_handle);
ESP_LOGI(TAG, "MODBUS poll task stopped");
}
}
bool modbus_update_poll_config(modbus_poll_config_t *config)
{
if (config == NULL) {
ESP_LOGE(TAG, "Invalid config parameter");
return false;
}
if (config->channel_num < 0 || config->channel_num >= NUM_CHANNELS) {
ESP_LOGE(TAG, "Invalid channel number: %d", config->channel_num);
return false;
}
if (config->reg_count == 0 || config->reg_count > 125) {
ESP_LOGE(TAG, "Invalid register count: %d", config->reg_count);
return false;
}
if (config->poll_interval_ms < 100) {
ESP_LOGE(TAG, "Poll interval too short (minimum 100ms): %d", config->poll_interval_ms);
return false;
}
// 如果互斥量还没创建，直接更新配置
if (config_mutex == NULL) {
memcpy(&current_config, config, sizeof(modbus_poll_config_t));
} else {
// 互斥保护
xSemaphoreTake(config_mutex, portMAX_DELAY);
memcpy(&current_config, config, sizeof(modbus_poll_config_t));
xSemaphoreGive(config_mutex);
}
ESP_LOGI(TAG, "MODBUS poll config updated: channel=%d, slave=%d, start_addr=0x%04X, reg_count=%d, interval=%dms, enabled=%d",
config->channel_num, config->slave_addr, config->start_addr,
config->reg_count, config->poll_interval_ms, config->enabled);
// 如果轮询任务还没有启动，自动启动
if (poll_task_handle == NULL && config->enabled) {
ESP_LOGI(TAG, "Auto-starting MODBUS poll task...");
// 先创建互斥量（如果还没创建）
if (config_mutex == NULL) {
config_mutex = xSemaphoreCreateMutex();
if (config_mutex == NULL) {
ESP_LOGE(TAG, "Failed to create config mutex");
return false;
}
}
// 启动轮询任务
BaseType_t ret = xTaskCreate(modbus_poll_task, "modbus_poll", 4096, NULL, 5, &poll_task_handle);
if (ret != pdPASS) {
ESP_LOGE(TAG, "Failed to auto-start MODBUS poll task");
return false;
}
ESP_LOGI(TAG, "MODBUS poll task auto-started");
}
return true;
}
modbus_poll_config_t* modbus_get_current_config(void)
{
return &current_config;
}

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components/MODBUS_ESP/include/MODBUS_ESP.h Normal file
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#ifndef MODBUS_ESP_H
#define MODBUS_ESP_H
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
/**
* @brief MODBUS功能码定义
*/
typedef enum {
MODBUS_FUNC_READ_HOLDING_REGISTERS = 0x03, // 读取保持寄存器
} modbus_function_code_t;
/**
* @brief MODBUS异常码定义
*/
typedef enum {
MODBUS_EXCEPTION_ILLEGAL_FUNCTION = 0x01,
MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS = 0x02,
MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE = 0x03,
MODBUS_EXCEPTION_SERVER_DEVICE_FAILURE = 0x04,
} modbus_exception_code_t;
/**
* @brief MODBUS响应结构体
*/
typedef struct {
uint8_t slave_addr; // 从机地址
uint8_t function_code; // 功能码
uint8_t byte_count; // 数据字节数
uint16_t *registers; // 寄存器数据（需要调用者释放）
uint8_t register_count; // 寄存器数量
bool is_exception; // 是否为异常响应
uint8_t exception_code; // 异常码（如果是异常响应）
} modbus_response_t;
/**
* @brief 计算CRC-16 (MODBUS RTU标准)
*
* @param data 数据指针
* @param len 数据长度
* @return uint16_t CRC校验值
*/
uint16_t modbus_crc16(const uint8_t *data, size_t len);
/**
* @brief 验证CRC校验
*
* @param data 数据指针（包含CRC的完整帧）
* @param len 数据长度（包含CRC的2个字节）
* @return true CRC校验成功
* @return false CRC校验失败
*/
bool modbus_verify_crc(const uint8_t *data, size_t len);
/**
* @brief 构建MODBUS RTU读取保持寄存器请求帧（功能码03）
*
* @param slave_addr 从机地址
* @param start_addr 起始寄存器地址
* @param reg_count 读取寄存器数量
* @param frame 输出帧缓冲区（需要至少8字节）
* @param frame_len 输出帧长度
* @return true 构建成功
* @return false 构建失败（参数错误）
*/
bool modbus_build_read_holding_req(uint8_t slave_addr, uint16_t start_addr, uint16_t reg_count,
uint8_t *frame, size_t *frame_len);
/**
* @brief 解析MODBUS RTU响应帧（仅支持功能码03）
*
* @param frame 接收到的帧数据
* @param frame_len 帧长度
* @param response 解析结果结构体
* @return true 解析成功
* @return false 解析失败（CRC错误、格式错误等）
*/
bool modbus_parse_response(const uint8_t *frame, size_t frame_len, modbus_response_t *response);
/**
* @brief 释放MODBUS响应结构体中的寄存器内存
*
* @param response MODBUS响应结构体
*/
void modbus_free_response(modbus_response_t *response);
/**
* @brief MODBUS轮询配置结构体
*/
typedef struct {
int channel_num; // RS485通道号 (0 或 1)
uint8_t slave_addr; // 从机地址
uint16_t start_addr; // 起始寄存器地址
uint16_t reg_count; // 读取寄存器数量
uint32_t poll_interval_ms; // 轮询间隔（毫秒）
bool enabled; // 是否启用
} modbus_poll_config_t;
/**
* @brief 启动MODBUS轮询任务
*
* @param config 轮询配置指针
* @param priority 任务优先级
* @param stack_size 任务栈大小
* @return BaseType_t pdTRUE 成功, pdFALSE 失败
*/
BaseType_t modbus_start_poll_task(modbus_poll_config_t *config, UBaseType_t priority, uint32_t stack_size);
/**
* @brief 停止MODBUS轮询任务
*
* @return 无返回值
*/
void modbus_stop_poll_task(void);
/**
* @brief 更新轮询配置
*
* @param config 新的轮询配置
* @return true 更新成功
* @return false 更新失败
*/
bool modbus_update_poll_config(modbus_poll_config_t *config);
/**
* @brief 获取当前轮询配置
*
* @return modbus_poll_config_t* 当前配置指针
*/
modbus_poll_config_t* modbus_get_current_config(void);
#endif // MODBUS_ESP_H