kopia lustrzana https://github.com/SP8EBC/ParaTNC
Mateusz Lubecki
rodzic
cadde74d9d
commit
3c96eb2e01
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@ -1,17 +0,0 @@
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/*
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* rtu_coil_data_t.h
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*
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* Created on: 28.08.2020
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* Author: mateusz
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*/
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#ifndef INCLUDE_MODBUS_RTU_RTU_COIL_DATA_T_H_
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#define INCLUDE_MODBUS_RTU_RTU_COIL_DATA_T_H_
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typedef struct rtu_coil_data_t {
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uint8_t number_of_coils;
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}rtu_coil_data_t;
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#endif /* INCLUDE_MODBUS_RTU_RTU_COIL_DATA_T_H_ */
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@ -0,0 +1,48 @@
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/*
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* rtu_crc.h
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*
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* Created on: 18.09.2020
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* Author: mateusz
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*/
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#ifndef INCLUDE_MODBUS_RTU_RTU_CRC_H_
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#define INCLUDE_MODBUS_RTU_RTU_CRC_H_
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#include <stdint.h>
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inline uint16_t rtu_crc_stream(uint16_t previous_crc, uint8_t current_data) {
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int i;
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previous_crc ^= (uint16_t)current_data;
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for (i = 0; i < 8; ++i) {
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if (previous_crc & 1)
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previous_crc = (previous_crc) ^ 0xA001;
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else
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previous_crc = (previous_crc >> 1);
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}
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return previous_crc;
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}
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inline uint16_t rtu_crc_buffer(uint8_t* buffer_ptr, uint8_t buffer_ln) {
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uint16_t crc = 0xFFFF;
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// https://ctlsys.com/support/how_to_compute_the_modbus_rtu_message_crc/
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for (int pos = 0; pos < buffer_ln; pos++) {
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crc ^= (uint16_t)buffer_ptr[pos]; // XOR byte into least sig. byte of crc
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for (int i = 8; i != 0; i--) { // Loop over each bit
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if ((crc & 0x0001) != 0) { // If the LSB is set
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crc >>= 1; // Shift right and XOR 0xA001
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crc ^= 0xA001;
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}
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else // Else LSB is not set
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crc >>= 1; // Just shift right
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}
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}
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// Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
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return crc;
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}
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#endif /* INCLUDE_MODBUS_RTU_RTU_CRC_H_ */
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@ -8,20 +8,10 @@
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#ifndef INCLUDE_MODBUS_RTU_RTU_PARSER_H_
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#define INCLUDE_MODBUS_RTU_RTU_PARSER_H_
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#include <modbus_rtu/rtu_register_data_t.h>
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#include <stdint.h>
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inline uint16_t rtu_parser_stream_crc(uint16_t previous_crc, uint8_t current_data) {
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int i;
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previous_crc ^= (uint16_t)current_data;
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for (i = 0; i < 8; ++i) {
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if (previous_crc & 1)
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previous_crc = (previous_crc) ^ 0xA001;
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else
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previous_crc = (previous_crc >> 1);
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}
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return previous_crc;
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}
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int32_t rtu_parser_03_04_registers(uint8_t* input, uint16_t input_ln, rtu_register_data_t* output);
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#endif /* INCLUDE_MODBUS_RTU_RTU_PARSER_H_ */
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@ -0,0 +1,30 @@
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/*
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* rtu_pool_queue_t.h
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*
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* Created on: 18.09.2020
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* Author: mateusz
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*/
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#ifndef INCLUDE_MODBUS_RTU_RTU_POOL_QUEUE_T_H_
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#define INCLUDE_MODBUS_RTU_RTU_POOL_QUEUE_T_H_
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#include <stdint.h>
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#define RTU_POOL_QUEUE_LENGHT 4
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/**
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* This type stores the queue of RTU functions to be queued
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* with theirs parameters (if there is any)
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*/
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typedef struct __attribute__((packed)) rtu_pool_queue {
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int8_t it;
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uint8_t function_id[RTU_POOL_QUEUE_LENGHT];
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void* function_parameter[RTU_POOL_QUEUE_LENGHT];
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} rtu_pool_queue_t;
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#endif /* INCLUDE_MODBUS_RTU_RTU_POOL_QUEUE_T_H_ */
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@ -0,0 +1,27 @@
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/*
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* rtu_coil_data_t.h
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*
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* Created on: 28.08.2020
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* Author: mateusz
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*/
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#ifndef INCLUDE_MODBUS_RTU_RTU_REGISTER_DATA_T_H_
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#define INCLUDE_MODBUS_RTU_RTU_REGISTER_DATA_T_H_
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#include <stdint.h>
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#define MODBUS_RTU_MAX_REGISTERS_AT_ONCE 16 // according to RTU standard 125
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typedef struct __attribute__((packed)) rtu_register_data {
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uint16_t slave_address;
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uint8_t number_of_registers;
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uint16_t base_address;
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uint16_t registers_values[MODBUS_RTU_MAX_REGISTERS_AT_ONCE];
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}rtu_register_data_t;
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#endif /* INCLUDE_MODBUS_RTU_RTU_REGISTER_DATA_T_H_ */
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@ -0,0 +1,15 @@
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/*
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* rtu_request.h
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*
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* Created on: 18.09.2020
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* Author: mateusz
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*/
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#ifndef INCLUDE_MODBUS_RTU_RTU_REQUEST_H_
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#define INCLUDE_MODBUS_RTU_RTU_REQUEST_H_
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#include <stdint.h>
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int32_t rtu_request_03_04_registers(int8_t input_or_holding, uint8_t* output, uint8_t output_ln, uint8_t slave_address, uint16_t base_register, uint8_t number_of_registers);
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#endif /* INCLUDE_MODBUS_RTU_RTU_REQUEST_H_ */
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@ -0,0 +1,16 @@
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/*
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* rtu_return_values.h
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*
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* Created on: 18.09.2020
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* Author: mateusz
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*/
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#ifndef INCLUDE_MODBUS_RTU_RTU_RETURN_VALUES_H_
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#define INCLUDE_MODBUS_RTU_RTU_RETURN_VALUES_H_
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#define MODBUS_RET_UNINITIALIZED -1
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#define MODBUS_RET_OK 0
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#define MODBUS_RET_TOO_SHORT 1
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#define MODBUS_RET_WRONG_FUNCTION 2
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#endif /* INCLUDE_MODBUS_RTU_RTU_RETURN_VALUES_H_ */
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@ -10,12 +10,17 @@
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#include <stdint.h>
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extern uint16_t rtu_serial_previous_crc;
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#include "./drivers/serial.h"
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uint8_t rtu_serial_callback(uint8_t current_data, const uint8_t * const rx_buffer, uint16_t rx_bytes_counter);
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#include "./modbus_rtu/rtu_pool_queue_t.h"
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extern uint16_t rtu_serial_previous_crc;
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inline void rtu_serial_reset_crc(void) {
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rtu_serial_previous_crc = 0xFFFF;
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}
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uint8_t rtu_serial_callback(uint8_t current_data, const uint8_t * const rx_buffer, uint16_t rx_bytes_counter);
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int32_t rtu_serial_pool(rtu_pool_queue_t* queue, srl_context_t* serial_context);
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#endif /* INCLUDE_MODBUS_RTU_RTU_SERIAL_IO_H_ */
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*/
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#include "./modbus_rtu/rtu_parser.h"
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#include "./modbus_rtu/rtu_return_values.h"
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#define MODBUS_RTU_MIN_03_04_RESP_LN 7 // one register to read
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int32_t rtu_parser_03_04_registers(uint8_t* input, uint16_t input_ln, rtu_register_data_t* output) {
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uint32_t retval = MODBUS_RET_UNINITIALIZED;
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uint16_t data = 0;
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// iterator through input table and registers table
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int i = 0, j = 6;
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// 7 bytes is the shortest meaningful Modbus RTU frame
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// with a value of single register
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if (input_ln < MODBUS_RTU_MIN_03_04_RESP_LN) {
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retval = MODBUS_RET_TOO_SHORT;
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}
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else {
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// fetch slave address
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data = *input << 8 | *(input + 1);
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// store slave address
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output->slave_address = data;
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// fetch function code
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data = *(input + 2) << 8 | *(input + 3);
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// check if the function code is correct or not
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if (data == 0x03 || data == 0x04) {
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// fetch the function result lenght in bytes
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data = *(input + 4) << 8 | *(input + 5);
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// store amount of registers in this response
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output->number_of_registers = data / 2;
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// get all registers values
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for (int i = 0; i < output->number_of_registers && i < MODBUS_RTU_MAX_REGISTERS_AT_ONCE; i++) {
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output->registers_values[i] = *(input + j) << 8 | *(input + j + 1);
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// moving to next 16bit word with next register
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j += 2;
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}
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}
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else {
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// if not exit with an error as this isn't
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// correct parser for this modbus function
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retval = MODBUS_RET_WRONG_FUNCTION;
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}
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}
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return retval;
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}
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@ -0,0 +1,59 @@
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/*
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* rtu_request.c
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*
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* Created on: 18.09.2020
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* Author: mateusz
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*/
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#include <stdarg.h>
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#include <string.h>
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#include "./modbus_rtu/rtu_request.h"
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#include "./modbus_rtu/rtu_return_values.h"
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#include "./modbus_rtu/rtu_crc.h"
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int32_t rtu_request_03_04_registers(int8_t input_or_holding, uint8_t* output, uint8_t output_ln, uint8_t slave_address, uint16_t base_register, uint8_t number_of_registers) {
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int32_t retval = MODBUS_RET_UNINITIALIZED;
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uint16_t crc = 0;
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// check if there is a room for a RTU frame
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if (output == 0x00 || output_ln < 8) {
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retval = MODBUS_RET_TOO_SHORT;
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}
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else {
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// initialize the output buffer for RTU binary frame
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memset(output, 0x00, output_ln);
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// put the slave address
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*output = slave_address;
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// put the function code
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if (input_or_holding == 0) {
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*(output + 1) = 0x04;
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}
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else {
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*(output + 1) = 0x03;
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}
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// put the base address to be read from the slave
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*(output + 2) = (base_register & 0xFF00) >> 8;
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*(output + 3) = base_register & 0xFF;
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// put the numbers of register to be read from slave
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*(output + 4) = 0x00; // all in all modbus RTU can transfer no more than 125 at once
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*(output + 5) = number_of_registers;
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// calculate the CRC from the content
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crc = rtu_crc_buffer(output, 6);
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// append the crc value
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*(output + 6) = (crc & 0xFF00) >> 8;
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*(output + 7) = crc & 0xFF;
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retval = MODBUS_RET_OK;
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}
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return retval;
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}
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@ -6,10 +6,26 @@
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*/
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#include "modbus_rtu/rtu_serial_io.h"
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#include "modbus_rtu/rtu_parser.h"
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#include "modbus_rtu/rtu_crc.h"
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#include "modbus_rtu/rtu_return_values.h"
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#include "modbus_rtu/rtu_register_data_t.h"
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#include "modbus_rtu/rtu_request.h"
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#include "drivers/serial.h"
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#include "main.h"
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typedef enum rtu_pool_state {
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RTU_POOL_IDLE,
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RTU_POOL_TRANSMITTING,
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RTU_POOL_RECEIVING,
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RTE_POOL_WAIT_AFTER_RECEIVE,
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RTU_POOL_RECEIVE_ERROR,
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RTU_POOL_STOP
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} rtu_pool_state_t;
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rtu_pool_state_t rtu_pool = RTU_POOL_STOP;
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uint32_t rtu_time_of_last_receive = 0;
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/**
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* CRC value after the last call to rtu_serial_callback
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@ -26,7 +42,7 @@ uint8_t rtu_serial_callback(uint8_t current_data, const uint8_t * const rx_buffe
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uint16_t new_crc = 0;
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// calculate new crc
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new_crc = rtu_parser_stream_crc(rtu_serial_previous_crc, current_data);
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new_crc = rtu_crc_stream(rtu_serial_previous_crc, current_data);
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// if the new CRC value equals 0x0000 it means that this was MSB
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// of CRC from correctly received Modbus-RTU frame
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@ -41,4 +57,72 @@ uint8_t rtu_serial_callback(uint8_t current_data, const uint8_t * const rx_buffe
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return retval;
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}
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int32_t rtu_serial_pool(rtu_pool_queue_t* queue, srl_context_t* serial_context) {
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int32_t retval = MODBUS_RET_UNINITIALIZED;
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int32_t result = MODBUS_RET_UNINITIALIZED;
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if (queue->it >= RTU_POOL_QUEUE_LENGHT) {
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queue->it = 0;
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}
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switch (rtu_pool) {
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case RTU_POOL_IDLE: {
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// check the function it at current queue position
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if (queue->function_id[queue->it] == 0x03) {
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// read holding registers
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// generating request content
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result = rtu_request_03_04_registers(
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0,
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serial_context->srl_tx_buf_pointer,
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serial_context->srl_tx_buf_ln,
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((rtu_register_data_t*)queue->function_parameter[queue->it])->slave_address,
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((rtu_register_data_t*)queue->function_parameter[queue->it])->base_address,
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((rtu_register_data_t*)queue->function_parameter[queue->it])->number_of_registers);
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// if request has been generated correctly
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if (result == MODBUS_RET_OK) {
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;
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}
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else {
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;
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}
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}
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else if (queue->function_id[queue->it] == 0x04) {
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// read input registers
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;
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}
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else {
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// any other unsupported or wrong function id
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rtu_pool = RTU_POOL_STOP;
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}
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break;
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}
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case RTU_POOL_TRANSMITTING: {
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break;
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}
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case RTU_POOL_RECEIVING: {
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break;
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}
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case RTE_POOL_WAIT_AFTER_RECEIVE: {
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break;
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}
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case RTU_POOL_RECEIVE_ERROR: {
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break;
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}
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case RTU_POOL_STOP: {
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break;
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}
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default: {
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rtu_pool = RTU_POOL_STOP;
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break;
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}
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}
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return retval;
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}
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