godchadigo/Modbus-STM32-HAL-FreeRTOS

Modbus RTU Master and Slave for STM32 using Cube HAL and FreeRTOS

Modbus library for STM32 Microcontrollers

USART and USB-CDC Modbus RTU Master and Slave library for STM32 microcontrollers based on Cube HAL and FreeRTOS.

Includes multiple examples for popular development boards including BluePill, NUCLEO-64, NUCLEO-144 and Discovery Boards (Cortex-M3/M4/M7).

This is a port of the Modbus library for Arduino: https://github.com/smarmengol/Modbus-Master-Slave-for-Arduino

Video demo for STM32F4-dicovery board and TouchGFX: https://youtu.be/XDCQvu0LirY

Characteristics:

• Portable to any STM32 MCU supported by ST Cube HAL.
• Multithread-safe implementation based on FreeRTOS.
• Multiple instances of Modbus (Master and/or Slave) can run concurrently in the same MCU, only limited by the number of available UART/USART of the MCU.
• RS232 and RS485 compatible.
• NEW: USB-CDC support

File structure

├── LICENSE
├── README.md
├── ModbusBluepill --> STM32F103C8 USART Slave example
├── ModbusBluepillUSB --> STM32F103C8 USART + USB-CDC Master and Slave example
├── ModbusF103 --> NUCLEO64-F103RB Modbus Master and Slave example
├── ModbusF429 --> NUCLEO144-F429ZI Modbus Slave example
├── ModbusH743 --> NUCLEO144-H743ZI Modbus Slave example
├── ModbusF303 --> NUCLEO64-F303RE Modbus Slave example
├── ModbusSTM32F4-discovery --> STM32F4-discovery TouchGFX + Modbus Master example
├── MODBUS-LIB --> Library Folder
    ├── Inc
    │   └── Modbus.h 
    └── Src
        ├── Modbus.c 
        └── UARTCallback.c 

How to use the examples

Examples provided for STM32CubeIDE Version: 1.3.0 https://www.st.com/en/development-tools/stm32cubeide.html.

• Import the examples in the STM32Cube IDE from the system folder
• Connect your NUCLEO board
• Compile and start your debugging session!
• If you need to adjust the Baud rate or any other parameter use the Cube-MX assistant (recommended). If you change the USART port you need to enable the interrupts for the selected USART. Check UARTCallback.c for more details.
• For the ModbusF103 example, you need and extra USB-to-serial adapter, or you can connect the Master and Slave instances in a loopback (USART1 <--> USART3).

NOTE:

The USB-CDC example supports only the Bluepill development board. It has not been validated with other development boards. To use this example, you need to activate the USB-CDC in the following line in Modbus.h file:

https://github.com/alejoseb/Modbus-STM32-HAL-FreeRTOS/blob/1d98194b3f0643edad694bf85cef9b25189204a5/MODBUS-LIB/Inc/Modbus.h#L21

Modbus instances over USART and USB-CDC can run simultaneously in Master or Slave modes concurrently. It is restricted to 1 USB-CDC interface and 3 USART interfaces for the Bluepill Board.

How to port to your own MCU

• Create a new project in STM32Cube IDE
• Configure a USART and activate the global interrupt of it
• Configure the Preemption priority of USART interrupt to a lower priority (5 or a higher number for a standard configuration) than your FreeRTOS scheduler. This parameter is changed in the NVIC configuration pane.
• Import the Modbus library folder (MODBUS-LIB) using drag-and-drop from your host operating system to your STM32Cube IDE project
• When asked, choose link folders and files
• Update the include paths in the project's properties to include the Inc folder of MODBUS-LIB folder
• Instantiate a new global modbusHandler_t and follow the examples provided in the repository
• Note: If the USART interrupts service for other purposes you have to modify the UARTCalback.c file accordingly

Recommended Modbus Master and Slave testing tools for Linux and Windows

Master client Qmodbus

Linux: https://launchpad.net/~js-reynaud/+archive/ubuntu/qmodbus

Windows: https://sourceforge.net/projects/qmodbus/

Slave simulator

Linux: https://sourceforge.net/projects/pymodslave/

Windows: https://sourceforge.net/projects/modrssim2/

TODOs:

• Implement wrapper functions for Master function codes. Currently, telegrams are defined manually.
• Improve function documentation
• Improve the queue for data reception; the current method is too heavy it should be replaced with a simple buffer, a stream, or another FreeRTOS primitive. Solved Queue repalced by a Ring Buffer (03/19/2021)
• Test with Rs485 transceivers (implemented but not tested) Verified with MAX485 transceivers (01/03/2021)
• MODBUS TCP implementation

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Modbus函式庫For STM32微處理器

• 適用於STM32(Cortex-M3/M4/M7)
• 該函式庫可以實作 Modbus Rtu [Master模式] 與 [Slave模式] 支援USART 與 USB-CDC
• 使用Stm32cube HAL庫 與 Freertos時實系統
• 也可導入該函式庫到BluePill, NUCLEO-64, NUCLEO-144板子
• Arduino演示影片 : https://github.com/smarmengol/Modbus-Master-Slave-for-Arduino
• STM32F4-dicovery 板子 與 TouchGFX 演示 : https://youtu.be/XDCQvu0LirY

特點

• 可移植到ST Cube HAL支持的任何STM32 MCU。
• 基於FreeRTOS的多線程安全實現。
• Modbus的多個實例（主站和/或從站）可以在同一MCU中同時運行，僅受MCU可用UART / USART數量的限制(板子有多少串口就可以用多少)。
• 支援RS232與RS485(注意! 485需要接RE DE發送/接收 控制腳位)
• 新! USB-CDC 支援

目錄

├── LICENSE
├── README.md
├── ModbusBluepill --> STM32F103C8 USART Slave example
├── ModbusBluepillUSB --> STM32F103C8 USART + USB-CDC Master and Slave example
├── ModbusF103 --> NUCLEO64-F103RB Modbus Master and Slave example
├── ModbusF429 --> NUCLEO144-F429ZI Modbus Slave example
├── ModbusH743 --> NUCLEO144-H743ZI Modbus Slave example
├── ModbusF303 --> NUCLEO64-F303RE Modbus Slave example
├── ModbusSTM32F4-discovery --> STM32F4-discovery TouchGFX + Modbus Master example
├── MODBUS-LIB --> Library Folder
    ├── Inc
    │   └── Modbus.h 
    └── Src
        ├── Modbus.c 
        └── UARTCallback.c 

如何使用範例

首先先去意法官方下載STM32CubeIDE : https://www.st.com/en/development-tools/stm32cubeide.html

• 導入範例到Stm32 IDE裡
• 連接你的開發板
• 編譯你的程式，或是Debug模式(F11)
• 如果有需要修改胞率，可以使用STM32 CubeMX修改(Stm32CubeIDE已經把MX功能融合了，所以也可以用IDE修改，副檔名為ioc的就是STM32的配置檔)，有關更多信息，可以嘗試配置UARTCallback.c
• 在本範例中STM32F103 [串口1是Master] [串口3是Slave] 可以實現閉迴路測試 (USART1 <-> USART3)

筆記

• USB-CDC示例僅支持Bluepill開發板。 尚未與其他開發板進行驗證。 要使用此示例，您需要在Modbus.h文件的以下行中激活USB-CDC：
• https://github.com/alejoseb/Modbus-STM32-HAL-FreeRTOS/blob/1d98194b3f0643edad694bf85cef9b25189204a5/MODBUS-LIB/Inc/Modbus.h#L21
• 通過USART和USB-CDC的Modbus實例可以同時在主模式或從模式下運行。 Bluepill板僅限於1個USB-CDC接口和3個USART接口。

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如何把函式庫導入到自己的專案

• 首先STM32CUBEIDE 開啟新專案
• 配置串口的中斷(NVIC)!!
• 配置FreeRTOS CMSIS V2.0 設定為開啟，並且設定中斷優先級(5或更高的數字[{預設/標準}配置])
• 在FreeRTOS裡新增Task任務
• Slave名子 myTaskSlave 函式名稱 StartSlaveTask
• Master名子 myTaskMaster 函式名稱 StartMasterTask
• 導入頭文件，打開stm32目錄資料夾，對專案右鍵，最下面的配置，找到include導入 MODBUS-LIB
• Main.c 初始化函式庫
• Main.h 新增全局函數 (extra)
• 提示: 如果USART中斷服務用於其他目的，則必須相應地修改UARTCalback.c文件

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推薦的適用於Linux和Windows的Modbus主從測試工具

Master client Qmodbus

Linux: https://launchpad.net/~js-reynaud/+archive/ubuntu/qmodbus

Windows: https://sourceforge.net/projects/qmodbus/

Slave simulator

Linux: https://sourceforge.net/projects/pymodslave/

Windows: https://sourceforge.net/projects/modrssim2/

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目標

• 為主功能代碼實現包裝器功能。 當前，telegrams是手動定義的。
• 改進功能文檔
• 改善數據接收隊列； 當前方法過於繁重，應將其替換為簡單的緩衝區，流或其他FreeRTOS原語。 已解決的隊列由環形緩衝區重新填充 Ring Wiki（03/19/2021)
• 使用Rs485收發器進行測試（已實現，但未經測試）已通過MAX485收發器進行了驗證（01/03/2021)
• Modbus TCP功能實現

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