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This commit is contained in:
Tutukov Beslan
2021-11-12 07:10:36 +03:00
parent a10d3d7420
commit 461e8fdbdb
4 changed files with 499 additions and 437 deletions
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155
ModbusRTU.cpp
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@@ -11,28 +11,44 @@
// Table of CRC values
static const uint16_t _auchCRC[] = {
0x0000, 0xC1C0, 0x81C1, 0x4001, 0x01C3, 0xC003, 0x8002, 0x41C2, 0x01C6, 0xC006, 0x8007, 0x41C7, 0x0005, 0xC1C5, 0x81C4,
0x4004, 0x01CC, 0xC00C, 0x800D, 0x41CD, 0x000F, 0xC1CF, 0x81CE, 0x400E, 0x000A, 0xC1CA, 0x81CB, 0x400B, 0x01C9, 0xC009,
0x8008, 0x41C8, 0x01D8, 0xC018, 0x8019, 0x41D9, 0x001B, 0xC1DB, 0x81DA, 0x401A, 0x001E, 0xC1DE, 0x81DF, 0x401F, 0x01DD,
0xC01D, 0x801C, 0x41DC, 0x0014, 0xC1D4, 0x81D5, 0x4015, 0x01D7, 0xC017, 0x8016, 0x41D6, 0x01D2, 0xC012, 0x8013, 0x41D3,
0x0011, 0xC1D1, 0x81D0, 0x4010, 0x01F0, 0xC030, 0x8031, 0x41F1, 0x0033, 0xC1F3, 0x81F2, 0x4032, 0x0036, 0xC1F6, 0x81F7,
0x4037, 0x01F5, 0xC035, 0x8034, 0x41F4, 0x003C, 0xC1FC, 0x81FD, 0x403D, 0x01FF, 0xC03F, 0x803E, 0x41FE, 0x01FA, 0xC03A,
0x803B, 0x41FB, 0x0039, 0xC1F9, 0x81F8, 0x4038, 0x0028, 0xC1E8, 0x81E9, 0x4029, 0x01EB, 0xC02B, 0x802A, 0x41EA, 0x01EE,
0xC02E, 0x802F, 0x41EF, 0x002D, 0xC1ED, 0x81EC, 0x402C, 0x01E4, 0xC024, 0x8025, 0x41E5, 0x0027, 0xC1E7, 0x81E6, 0x4026,
0x0022, 0xC1E2, 0x81E3, 0x4023, 0x01E1, 0xC021, 0x8020, 0x41E0, 0x01A0, 0xC060, 0x8061, 0x41A1, 0x0063, 0xC1A3, 0x81A2,
0x4062, 0x0066, 0xC1A6, 0x81A7, 0x4067, 0x01A5, 0xC065, 0x8064, 0x41A4, 0x006C, 0xC1AC, 0x81AD, 0x406D, 0x01AF, 0xC06F,
0x806E, 0x41AE, 0x01AA, 0xC06A, 0x806B, 0x41AB, 0x0069, 0xC1A9, 0x81A8, 0x4068, 0x0078, 0xC1B8, 0x81B9, 0x4079, 0x01BB,
0xC07B, 0x807A, 0x41BA, 0x01BE, 0xC07E, 0x807F, 0x41BF, 0x007D, 0xC1BD, 0x81BC, 0x407C, 0x01B4, 0xC074, 0x8075, 0x41B5,
0x0077, 0xC1B7, 0x81B6, 0x4076, 0x0072, 0xC1B2, 0x81B3, 0x4073, 0x01B1, 0xC071, 0x8070, 0x41B0, 0x0050, 0xC190, 0x8191,
0x4051, 0x0193, 0xC053, 0x8052, 0x4192, 0x0196, 0xC056, 0x8057, 0x4197, 0x0055, 0xC195, 0x8194, 0x4054, 0x019C, 0xC05C,
0x805D, 0x419D, 0x005F, 0xC19F, 0x819E, 0x405E, 0x005A, 0xC19A, 0x819B, 0x405B, 0x0199, 0xC059, 0x8058, 0x4198, 0x0188,
0xC048, 0x8049, 0x4189, 0x004B, 0xC18B, 0x818A, 0x404A, 0x004E, 0xC18E, 0x818F, 0x404F, 0x018D, 0xC04D, 0x804C, 0x418C,
0x0044, 0xC184, 0x8185, 0x4045, 0x0187, 0xC047, 0x8046, 0x4186, 0x0182, 0xC042, 0x8043, 0x4183, 0x0041, 0xC181, 0x8180,
0x4040, 0x0000
0x0000, 0xC1C0, 0x81C1, 0x4001, 0x01C3, 0xC003, 0x8002, 0x41C2, 0x01C6, 0xC006, 0x8007, 0x41C7, 0x0005, 0xC1C5,
0x81C4,
0x4004, 0x01CC, 0xC00C, 0x800D, 0x41CD, 0x000F, 0xC1CF, 0x81CE, 0x400E, 0x000A, 0xC1CA, 0x81CB, 0x400B, 0x01C9,
0xC009,
0x8008, 0x41C8, 0x01D8, 0xC018, 0x8019, 0x41D9, 0x001B, 0xC1DB, 0x81DA, 0x401A, 0x001E, 0xC1DE, 0x81DF, 0x401F,
0x01DD,
0xC01D, 0x801C, 0x41DC, 0x0014, 0xC1D4, 0x81D5, 0x4015, 0x01D7, 0xC017, 0x8016, 0x41D6, 0x01D2, 0xC012, 0x8013,
0x41D3,
0x0011, 0xC1D1, 0x81D0, 0x4010, 0x01F0, 0xC030, 0x8031, 0x41F1, 0x0033, 0xC1F3, 0x81F2, 0x4032, 0x0036, 0xC1F6,
0x81F7,
0x4037, 0x01F5, 0xC035, 0x8034, 0x41F4, 0x003C, 0xC1FC, 0x81FD, 0x403D, 0x01FF, 0xC03F, 0x803E, 0x41FE, 0x01FA,
0xC03A,
0x803B, 0x41FB, 0x0039, 0xC1F9, 0x81F8, 0x4038, 0x0028, 0xC1E8, 0x81E9, 0x4029, 0x01EB, 0xC02B, 0x802A, 0x41EA,
0x01EE,
0xC02E, 0x802F, 0x41EF, 0x002D, 0xC1ED, 0x81EC, 0x402C, 0x01E4, 0xC024, 0x8025, 0x41E5, 0x0027, 0xC1E7, 0x81E6,
0x4026,
0x0022, 0xC1E2, 0x81E3, 0x4023, 0x01E1, 0xC021, 0x8020, 0x41E0, 0x01A0, 0xC060, 0x8061, 0x41A1, 0x0063, 0xC1A3,
0x81A2,
0x4062, 0x0066, 0xC1A6, 0x81A7, 0x4067, 0x01A5, 0xC065, 0x8064, 0x41A4, 0x006C, 0xC1AC, 0x81AD, 0x406D, 0x01AF,
0xC06F,
0x806E, 0x41AE, 0x01AA, 0xC06A, 0x806B, 0x41AB, 0x0069, 0xC1A9, 0x81A8, 0x4068, 0x0078, 0xC1B8, 0x81B9, 0x4079,
0x01BB,
0xC07B, 0x807A, 0x41BA, 0x01BE, 0xC07E, 0x807F, 0x41BF, 0x007D, 0xC1BD, 0x81BC, 0x407C, 0x01B4, 0xC074, 0x8075,
0x41B5,
0x0077, 0xC1B7, 0x81B6, 0x4076, 0x0072, 0xC1B2, 0x81B3, 0x4073, 0x01B1, 0xC071, 0x8070, 0x41B0, 0x0050, 0xC190,
0x8191,
0x4051, 0x0193, 0xC053, 0x8052, 0x4192, 0x0196, 0xC056, 0x8057, 0x4197, 0x0055, 0xC195, 0x8194, 0x4054, 0x019C,
0xC05C,
0x805D, 0x419D, 0x005F, 0xC19F, 0x819E, 0x405E, 0x005A, 0xC19A, 0x819B, 0x405B, 0x0199, 0xC059, 0x8058, 0x4198,
0x0188,
0xC048, 0x8049, 0x4189, 0x004B, 0xC18B, 0x818A, 0x404A, 0x004E, 0xC18E, 0x818F, 0x404F, 0x018D, 0xC04D, 0x804C,
0x418C,
0x0044, 0xC184, 0x8185, 0x4045, 0x0187, 0xC047, 0x8046, 0x4186, 0x0182, 0xC042, 0x8043, 0x4183, 0x0041, 0xC181,
0x8180,
0x4040, 0x0000
};
uint16_t ModbusRTU::crc16(uint8_t address, uint8_t* frame, uint8_t pduLen)
{
uint16_t ModbusRTU::crc16(uint8_t address, uint8_t *frame, uint8_t pduLen) {
uint8_t i = 0xFF ^ address;
uint16_t val = pgm_read_word(_auchCRC + i);
uint8_t CRCHi = 0xFF ^ highByte(val); // Hi
@@ -46,8 +62,7 @@ uint16_t ModbusRTU::crc16(uint8_t address, uint8_t* frame, uint8_t pduLen)
return (CRCHi << 8) | CRCLo;
}
void ModbusRTU::setBaudrate(uint32_t baud)
{
void ModbusRTU::setBaudrate(uint32_t baud) {
if (baud > 19200) {
_t = 50ms;
} else {
@@ -56,16 +71,14 @@ void ModbusRTU::setBaudrate(uint32_t baud)
}
}
bool ModbusRTU::begin(UnbufferedSerial* port)
{
bool ModbusRTU::begin(UnbufferedSerial *port) {
_port = port;
_t = 50ms;
_port->attach(callback(this, &ModbusRTU::SerialRXHandler), SerialBase::RxIrq);
return true;
}
bool ModbusRTU::begin(UnbufferedSerial* port, PinName txPin)
{
bool ModbusRTU::begin(UnbufferedSerial *port, PinName txPin) {
uint32_t baud = 0;
#if defined(ESP32) || defined(ESP8266)
// baudRate() only available with ESP32+ESP8266
@@ -85,17 +98,15 @@ bool ModbusRTU::begin(UnbufferedSerial* port, PinName txPin)
return true;
}
void ModbusRTU::SerialRXHandler()
{
void ModbusRTU::SerialRXHandler() {
char c;
if (_port->readable()) {
_port->read(&c, 1);
RX_RingBuff.push((uint8_t)(c & (uint8_t)0xFFU));
RX_RingBuff.push((uint8_t) (c & (uint8_t) 0xFFU));
}
}
void ModbusRTU::SerialTXHandler()
{
void ModbusRTU::SerialTXHandler() {
//Здесь проверка на TC а не на RX!!!!
//Изменено в serial_api.c
if (_port->writeable()) {
@@ -104,17 +115,15 @@ void ModbusRTU::SerialTXHandler()
}
}
uint8_t ModbusRTU::Read(void)
{
uint8_t ModbusRTU::Read() {
uint8_t cur = 0xff;
if (!RX_RingBuff.empty()) {
RX_RingBuff.pop((char&)cur);
RX_RingBuff.pop((char &) cur);
}
return cur;
}
uint8_t ModbusRTU::isDataAvailable(void)
{
uint8_t ModbusRTU::isDataAvailable() {
if (RX_RingBuff.full()) {
RX_RingBuff.reset();
}
@@ -133,8 +142,7 @@ bool ModbusRTU::begin(SoftwareSerial* port, int16_t txPin)
}
#endif
bool ModbusRTU::rawSend(uint8_t slaveId, uint8_t* frame, uint8_t len)
{
bool ModbusRTU::rawSend(uint8_t slaveId, uint8_t *frame, uint8_t len) {
uint16_t newCrc = crc16(slaveId, frame, len);
char crc[2];
crc[0] = newCrc >> 8;
@@ -153,8 +161,7 @@ bool ModbusRTU::rawSend(uint8_t slaveId, uint8_t* frame, uint8_t len)
return true;
}
bool ModbusRTU::send(uint8_t slaveId, TAddress startreg, cbTransaction cb, void* data, bool waitResponse)
{
bool ModbusRTU::send(uint8_t slaveId, TAddress startreg, cbTransaction cb, void *data, bool waitResponse) {
if (_slaveId)
return false; // Break if waiting for previous request result
rawSend(slaveId, _frame, _len);
@@ -171,8 +178,7 @@ bool ModbusRTU::send(uint8_t slaveId, TAddress startreg, cbTransaction cb, void*
return true;
}
void ModbusRTU::task()
{
void ModbusRTU::task() {
if (RX_RingBuff.size() > _len) {
_len = RX_RingBuff.size();
@@ -201,13 +207,13 @@ void ModbusRTU::task()
}
free(_frame); //Just in case
_frame = (uint8_t*)malloc(_len);
_frame = (uint8_t *) malloc(_len);
if (!_frame) { // Fail to allocate buffer
RX_RingBuff.reset(); // Skip packet if can't allocate buffer
_len = 0;
return;
}
for (uint8_t i = 0; i < _len; i++) {
for (uint16_t i = 0; i < _len; i++) {
_frame[i] = Read(); // read data + crc
#if defined(MODBUSRTU_DEBUG)
Serial.printf("%02X ", _frame[i]);
@@ -229,9 +235,9 @@ void ModbusRTU::task()
_reply = EX_SUCCESS;
if ((_frame[0] & 0x7F) == _sentFrame[0]) { // Check if function code the same as requested
// Procass incoming frame as master
masterPDU(_frame, _sentFrame, _sentReg, (uint16_t*)_data);
masterPDU(_frame, _sentFrame, _sentReg, (uint16_t *) _data);
if (_cb) {
_cb((ResultCode)_reply, 0, nullptr);
_cb((ResultCode) _reply, 0, nullptr);
}
free(_sentFrame);
_sentFrame = nullptr;
@@ -253,8 +259,7 @@ void ModbusRTU::task()
_len = 0;
}
bool ModbusRTU::cleanup()
{
bool ModbusRTU::cleanup() {
// Remove timeouted request and forced event
if (_slaveId && (Kernel::Clock::now() - _timestamp > MODBUSRTU_TIMEOUT)) {
if (_cb)
@@ -269,68 +274,59 @@ bool ModbusRTU::cleanup()
return false;
}
uint16_t ModbusRTU::writeHreg(uint8_t slaveId, uint16_t offset, uint16_t value, cbTransaction cb)
{
uint16_t ModbusRTU::writeHreg(uint8_t slaveId, uint16_t offset, uint16_t value, cbTransaction cb) {
readSlave(offset, value, FC_WRITE_REG);
return send(slaveId, HREG(offset), cb, nullptr, cb);
}
uint16_t ModbusRTU::writeCoil(uint8_t slaveId, uint16_t offset, bool value, cbTransaction cb)
{
uint16_t ModbusRTU::writeCoil(uint8_t slaveId, uint16_t offset, bool value, cbTransaction cb) {
readSlave(offset, COIL_VAL(value), FC_WRITE_COIL);
return send(slaveId, COIL(offset), cb, nullptr, cb);
}
uint16_t ModbusRTU::readCoil(uint8_t slaveId, uint16_t offset, bool* value, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::readCoil(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs << 4)
return false;
readSlave(offset, numregs, FC_READ_COILS);
return send(slaveId, COIL(offset), cb, value);
}
uint16_t ModbusRTU::writeCoil(uint8_t slaveId, uint16_t offset, bool* value, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::writeCoil(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > 0x07D0)
return false;
writeSlaveBits(COIL(offset), offset, numregs, FC_WRITE_COILS, value);
return send(slaveId, COIL(offset), cb, nullptr, cb);
}
uint16_t ModbusRTU::writeHreg(uint8_t slaveId, uint16_t offset, uint16_t* value, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::writeHreg(uint8_t slaveId, uint16_t offset, uint16_t *value, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > 0x007D)
return false;
writeSlaveWords(HREG(offset), offset, numregs, FC_WRITE_REGS, value);
return send(slaveId, HREG(offset), cb, nullptr, cb);
}
uint16_t ModbusRTU::readHreg(uint8_t slaveId, uint16_t offset, uint16_t* value, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::readHreg(uint8_t slaveId, uint16_t offset, uint16_t *value, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs)
return false;
readSlave(offset, numregs, FC_READ_REGS);
return send(slaveId, HREG(offset), cb, value);
}
uint16_t ModbusRTU::readIsts(uint8_t slaveId, uint16_t offset, bool* value, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::readIsts(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs << 4)
return false;
readSlave(offset, numregs, FC_READ_INPUT_STAT);
return send(slaveId, ISTS(offset), cb, value);
}
uint16_t ModbusRTU::readIreg(uint8_t slaveId, uint16_t offset, uint16_t* value, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::readIreg(uint8_t slaveId, uint16_t offset, uint16_t *value, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs)
return false;
readSlave(offset, numregs, FC_READ_INPUT_REGS);
return send(slaveId, IREG(offset), cb, value);
}
uint16_t ModbusRTU::pushCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pushCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > 0x07D0)
return false;
if (!searchRegister(COIL(from)))
@@ -343,8 +339,7 @@ uint16_t ModbusRTU::pushCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16
return send(slaveId, COIL(from), cb);
}
uint16_t ModbusRTU::pullCoil(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pullCoil(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs << 4)
return false;
#ifdef MODBUSRTU_ADD_REG
@@ -354,8 +349,7 @@ uint16_t ModbusRTU::pullCoil(uint8_t slaveId, uint16_t from, uint16_t to, uint16
return send(slaveId, COIL(to), cb);
}
uint16_t ModbusRTU::pullIsts(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pullIsts(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs << 4)
return false;
#ifdef MODBUSRTU_ADD_REG
@@ -365,8 +359,7 @@ uint16_t ModbusRTU::pullIsts(uint8_t slaveId, uint16_t from, uint16_t to, uint16
return send(slaveId, ISTS(to), cb);
}
uint16_t ModbusRTU::pushHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pushHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > 0x007D)
return false;
if (!searchRegister(HREG(from)))
@@ -379,8 +372,7 @@ uint16_t ModbusRTU::pushHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16
return send(slaveId, HREG(from), cb);
}
uint16_t ModbusRTU::pullHreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pullHreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs)
return false;
#ifdef MODBUSRTU_ADD_REG
@@ -390,8 +382,7 @@ uint16_t ModbusRTU::pullHreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16
return send(slaveId, HREG(to), cb);
}
uint16_t ModbusRTU::pullIreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pullIreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs)
return false;
#ifdef MODBUSRTU_ADD_REG
@@ -401,8 +392,7 @@ uint16_t ModbusRTU::pullIreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16
return send(slaveId, IREG(to), cb);
}
uint16_t ModbusRTU::pushIregToHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pushIregToHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > 0x007D)
return false;
if (!searchRegister(IREG(from)))
@@ -415,8 +405,7 @@ uint16_t ModbusRTU::pushIregToHreg(uint8_t slaveId, uint16_t to, uint16_t from,
return send(slaveId, IREG(from), cb);
}
uint16_t ModbusRTU::pushIstsToCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pushIstsToCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs << 4)
return false;
if (!searchRegister(ISTS(from)))
@@ -429,8 +418,7 @@ uint16_t ModbusRTU::pushIstsToCoil(uint8_t slaveId, uint16_t to, uint16_t from,
return send(slaveId, ISTS(from), cb);
}
uint16_t ModbusRTU::pullHregToIreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pullHregToIreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs)
return false;
#ifdef MODBUSRTU_ADD_REG
@@ -440,8 +428,7 @@ uint16_t ModbusRTU::pullHregToIreg(uint8_t slaveId, uint16_t from, uint16_t to,
return send(slaveId, IREG(to), cb);
}
uint16_t ModbusRTU::pullCoilToIsts(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb)
{
uint16_t ModbusRTU::pullCoilToIsts(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs, cbTransaction cb) {
if (numregs < 0x0001 || numregs > maxRegs << 4)
return false;
#ifdef MODBUSRTU_ADD_REG