Revision 6:c3eaa87a6b3e, committed 2017-03-22

Comitter:

stanley1228

Date:

Wed Mar 22 22:37:25 2017 +0800

Parent:

5:c712a10c9414

Child:

7:44579368875a

Commit message:

1.Add REG_HOLDING_START,REG_HOLDING_NREGS
2.change eMBRegHoldingCB function

Changed in this revision

--- a/main.cpp	Tue Mar 14 22:23:17 2017 +0800
+++ b/main.cpp	Wed Mar 22 22:37:25 2017 +0800
@@ -31,14 +31,44 @@
 Serial pc(USBTX, USBRX);  //stanley
 
 /* ----------------------- Defines ------------------------------------------*/
-#define REG_INPUT_START 1000
-#define REG_INPUT_NREGS 4
+#define REG_INPUT_START (3001)
+#define REG_INPUT_NREGS 15
+#define REG_HOLDING_START (4001)
+#define REG_HOLDING_NREGS 6
+
 #define SLAVE_ID 0x0A
 
+  //==
+    //Modbus struct
+    //==
+    //Input register  0~14 
+    //public UInt16[] PosVal = new UInt16[DEF_MAX_AXIS];  7
+    //public Int16[] VelValue = new Int16[DEF_MAX_AXIS];  7
+    //public Int16 Err_State = 0;						  1	
+
+    ////Holding register  0~5
+    //public Int16 TargetPosX;			1
+    //public Int16 TargetPosY;			1
+    //public Int16 TargetPosZ;			1
+    //public Int16 OPMode;      //P2P	1
+    //public Int16 SpeedRatio; //0~1	1	
+
+enum{
+	DEF_RHI_TARGET_POSX=0,
+	DEF_RHI_TARGET_POSY,
+	DEF_RHI_TARGET_POSZ,
+	DEF_RHI_OPMODE,
+	DEF_RHI_SPPED_RATIO_L,
+	DEF_RHI_SPPED_RATIO_H
+};
+
 /* ----------------------- Static variables ---------------------------------*/
 static USHORT   usRegInputStart = REG_INPUT_START;
 static USHORT   usRegInputBuf[REG_INPUT_NREGS];
 
+static USHORT   usRegHoldingStart = REG_HOLDING_START;
+static USHORT   usRegHoldingBuf[REG_HOLDING_NREGS];
+
 /* ----------------------- Start implementation -----------------------------*/
 
 int main( void )
@@ -48,13 +78,28 @@
     eStatus = eMBInit( MB_RTU, SLAVE_ID, 0, 115200, MB_PAR_NONE );
 
     /* Enable the Modbus Protocol Stack. */
-    eStatus = eMBEnable(  );
+	eMBEnable(  );
+    //eStatus = eMBEnable(  );
     
     // Initialise some registers
     usRegInputBuf[1] = 0x1234;
     usRegInputBuf[2] = 0x5678;
-    usRegInputBuf[3] = 0x9abc;        
-    
+    usRegInputBuf[3] = 0x9abc;  
+	usRegInputBuf[4] = 0x1000;
+    usRegInputBuf[5] = 0x1001;  
+    usRegInputBuf[6] = 0x1002;  
+
+	usRegHoldingBuf[DEF_RHI_TARGET_POSX]=0x0;
+	usRegHoldingBuf[DEF_RHI_TARGET_POSY]=0x1122;
+	usRegHoldingBuf[DEF_RHI_TARGET_POSZ]=0x3344;
+	usRegHoldingBuf[DEF_RHI_OPMODE]=0x2;
+
+	float fSpeedRatio=0.345;
+	USHORT* usp=(USHORT*)&fSpeedRatio;
+	usRegHoldingBuf[DEF_RHI_SPPED_RATIO_L]=*usp;
+	usRegHoldingBuf[DEF_RHI_SPPED_RATIO_H]=*(usp+1);
+	
+
 	
 	myled=1;//stanley
 	
@@ -105,23 +150,23 @@
 }
 
 eMBErrorCode
-eMBRegHoldingCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode )
+eMBRegHoldingCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode )  //change variable to REG_HOLDING ,original is all input register
 {
     eMBErrorCode    eStatus = MB_ENOERR;
     int             iRegIndex;
 
     if (eMode == MB_REG_READ)
     {
-        if( ( usAddress >= REG_INPUT_START )
-            && ( usAddress + usNRegs <= REG_INPUT_START + REG_INPUT_NREGS ) )
+        if( ( usAddress >= REG_HOLDING_START )
+            && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) )
         {
-            iRegIndex = ( int )( usAddress - usRegInputStart );
+            iRegIndex = ( int )( usAddress - usRegHoldingStart );
             while( usNRegs > 0 )
             {
                 *pucRegBuffer++ =
-                    ( unsigned char )( usRegInputBuf[iRegIndex] >> 8 );
+                    ( unsigned char )( usRegHoldingBuf[iRegIndex] >> 8 );
                 *pucRegBuffer++ =
-                    ( unsigned char )( usRegInputBuf[iRegIndex] & 0xFF );
+                    ( unsigned char )( usRegHoldingBuf[iRegIndex] & 0xFF );
                 iRegIndex++;
                 usNRegs--;
             }
@@ -130,13 +175,13 @@
 
     if (eMode == MB_REG_WRITE)
     {
-        if( ( usAddress >= REG_INPUT_START )
-            && ( usAddress + usNRegs <= REG_INPUT_START + REG_INPUT_NREGS ) )
+        if( ( usAddress >= REG_HOLDING_START )
+            && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) )
         {
-            iRegIndex = ( int )( usAddress - usRegInputStart );
+            iRegIndex = ( int )( usAddress - usRegHoldingStart );
             while( usNRegs > 0 )
             {
-                usRegInputBuf[iRegIndex] =  ((unsigned int) *pucRegBuffer << 8) | ((unsigned int) *(pucRegBuffer+1));
+                usRegHoldingBuf[iRegIndex] =  ((unsigned int) *pucRegBuffer << 8) | ((unsigned int) *(pucRegBuffer+1));
                 pucRegBuffer+=2;
                 iRegIndex++;
                 usNRegs--;