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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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251
Modbus.cpp
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@@ -11,12 +11,12 @@ std::vector<TRegister> _regs;
std::vector<TCallback> _callbacks; std::vector<TCallback> _callbacks;
#endif #endif
uint16_t Modbus::mbCallback(TRegister* reg, uint16_t val, TCallback::CallbackType t) uint16_t Modbus::mbCallback(TRegister *reg, uint16_t val, TCallback::CallbackType t) {
{
uint16_t newVal = val; uint16_t newVal = val;
std::vector<TCallback>::iterator it = _callbacks.begin(); auto it = _callbacks.begin();
do { do {
it = std::find_if(it, _callbacks.end(), [reg, t](TCallback& cb) { return cb.address == reg->address && cb.type == t; }); it = std::find_if(it, _callbacks.end(),
[reg, t](TCallback &cb) { return cb.address == reg->address && cb.type == t; });
if (it != _callbacks.end()) { if (it != _callbacks.end()) {
newVal = it->cb(reg, newVal); newVal = it->cb(reg, newVal);
it++; it++;
@@ -25,16 +25,14 @@ uint16_t Modbus::mbCallback(TRegister* reg, uint16_t val, TCallback::CallbackTyp
return newVal; return newVal;
} }
TRegister* Modbus::searchRegister(TAddress address) TRegister *Modbus::searchRegister(TAddress address) {
{ auto it = std::find_if(_regs.begin(), _regs.end(), [address](TRegister &addr) { return addr.address == address; });
std::vector<TRegister>::iterator it = std::find_if(_regs.begin(), _regs.end(), [address](TRegister& addr) { return addr.address == address; });
if (it != _regs.end()) if (it != _regs.end())
return &*it; return &*it;
return nullptr; return nullptr;
} }
bool Modbus::addReg(TAddress address, uint16_t value, uint16_t numregs) bool Modbus::addReg(TAddress address, uint16_t value, uint16_t numregs) {
{
#ifdef MB_MAX_REGS #ifdef MB_MAX_REGS
if (_regs.size() + numregs > MB_MAX_REGS) if (_regs.size() + numregs > MB_MAX_REGS)
return false; return false;
@@ -47,8 +45,7 @@ bool Modbus::addReg(TAddress address, uint16_t value, uint16_t numregs)
return true; return true;
} }
bool Modbus::Reg(TAddress address, uint16_t value) bool Modbus::Reg(TAddress address, uint16_t value) {
{
TRegister *reg; TRegister *reg;
reg = searchRegister(address); //search for the register address reg = searchRegister(address); //search for the register address
if (reg) { //if found then assign the register value to the new value. if (reg) { //if found then assign the register value to the new value.
@@ -62,8 +59,7 @@ bool Modbus::Reg(TAddress address, uint16_t value)
return false; return false;
} }
uint16_t Modbus::Reg(TAddress address) uint16_t Modbus::Reg(TAddress address) {
{
TRegister *reg; TRegister *reg;
reg = searchRegister(address); reg = searchRegister(address);
if (reg) if (reg)
@@ -76,8 +72,7 @@ uint16_t Modbus::Reg(TAddress address)
return 0; return 0;
} }
bool Modbus::removeReg(TAddress address, uint16_t numregs) bool Modbus::removeReg(TAddress address, uint16_t numregs) {
{
TRegister *reg; TRegister *reg;
bool atLeastOne = false; bool atLeastOne = false;
for (uint16_t i = 0; i < numregs; i++) { for (uint16_t i = 0; i < numregs; i++) {
@@ -92,9 +87,8 @@ bool Modbus::removeReg(TAddress address, uint16_t numregs)
return atLeastOne; return atLeastOne;
} }
void Modbus::slavePDU(uint8_t* frame) void Modbus::slavePDU(uint8_t *frame) {
{ auto fcode = (FunctionCode) frame[0];
FunctionCode fcode = (FunctionCode)frame[0];
uint16_t field1 = (uint16_t) frame[1] << 8 | (uint16_t) frame[2]; uint16_t field1 = (uint16_t) frame[1] << 8 | (uint16_t) frame[2];
uint16_t field2 = (uint16_t) frame[3] << 8 | (uint16_t) frame[4]; uint16_t field2 = (uint16_t) frame[3] << 8 | (uint16_t) frame[4];
uint16_t bytecount_calc; uint16_t bytecount_calc;
@@ -174,7 +168,8 @@ void Modbus::slavePDU(uint8_t* frame)
bytecount_calc = field2 / 8; bytecount_calc = field2 / 8;
if (field2 % 8) if (field2 % 8)
bytecount_calc++; bytecount_calc++;
if (field2 < 0x0001 || field2 > 0x07B0 || frame[5] != bytecount_calc) { //Check registers range and data size maches if (field2 < 0x0001 || field2 > 0x07B0 ||
frame[5] != bytecount_calc) { //Check registers range and data size maches
exceptionResponse(fcode, EX_ILLEGAL_VALUE); exceptionResponse(fcode, EX_ILLEGAL_VALUE);
break; break;
} }
@@ -196,8 +191,7 @@ void Modbus::slavePDU(uint8_t* frame)
} }
} }
void Modbus::successResponce(TAddress startreg, uint16_t numoutputs, FunctionCode fn) void Modbus::successResponce(TAddress startreg, uint16_t numoutputs, FunctionCode fn) {
{
free(_frame); free(_frame);
_len = 5; _len = 5;
_frame = (uint8_t *) malloc(_len); _frame = (uint8_t *) malloc(_len);
@@ -208,8 +202,7 @@ void Modbus::successResponce(TAddress startreg, uint16_t numoutputs, FunctionCod
_frame[4] = numoutputs & 0x00FF; _frame[4] = numoutputs & 0x00FF;
} }
void Modbus::exceptionResponse(FunctionCode fn, ResultCode excode) void Modbus::exceptionResponse(FunctionCode fn, ResultCode excode) {
{
free(_frame); free(_frame);
_len = 2; _len = 2;
_frame = (uint8_t *) malloc(_len); _frame = (uint8_t *) malloc(_len);
@@ -218,8 +211,7 @@ void Modbus::exceptionResponse(FunctionCode fn, ResultCode excode)
_reply = REPLY_NORMAL; _reply = REPLY_NORMAL;
} }
void Modbus::getMultipleBits(uint8_t* frame, TAddress startreg, uint16_t numregs) void Modbus::getMultipleBits(uint8_t *frame, TAddress startreg, uint16_t numregs) {
{
uint8_t bitn = 0; uint8_t bitn = 0;
uint16_t i = 0; uint16_t i = 0;
while (numregs--) { while (numregs--) {
@@ -236,15 +228,13 @@ void Modbus::getMultipleBits(uint8_t* frame, TAddress startreg, uint16_t numregs
} }
} }
void Modbus::getMultipleWords(uint16_t* frame, TAddress startreg, uint16_t numregs) void Modbus::getMultipleWords(uint16_t *frame, TAddress startreg, uint16_t numregs) {
{ for (uint16_t i = 0; i < numregs; i++) {
for (uint8_t i = 0; i < numregs; i++) {
frame[i] = __bswap_16(Reg(startreg + i)); frame[i] = __bswap_16(Reg(startreg + i));
} }
} }
void Modbus::readBits(TAddress startreg, uint16_t numregs, FunctionCode fn) void Modbus::readBits(TAddress startreg, uint16_t numregs, FunctionCode fn) {
{
if (numregs < 0x0001 || numregs > 0x07D0) { //Check value (numregs) if (numregs < 0x0001 || numregs > 0x07D0) { //Check value (numregs)
exceptionResponse(fn, EX_ILLEGAL_VALUE); exceptionResponse(fn, EX_ILLEGAL_VALUE);
return; return;
@@ -276,8 +266,7 @@ void Modbus::readBits(TAddress startreg, uint16_t numregs, FunctionCode fn)
_reply = REPLY_NORMAL; _reply = REPLY_NORMAL;
} }
void Modbus::readWords(TAddress startreg, uint16_t numregs, FunctionCode fn) void Modbus::readWords(TAddress startreg, uint16_t numregs, FunctionCode fn) {
{
//Check value (numregs) //Check value (numregs)
if (numregs < 0x0001 || numregs > 0x007D) { if (numregs < 0x0001 || numregs > 0x007D) {
exceptionResponse(fn, EX_ILLEGAL_VALUE); exceptionResponse(fn, EX_ILLEGAL_VALUE);
@@ -300,8 +289,7 @@ void Modbus::readWords(TAddress startreg, uint16_t numregs, FunctionCode fn)
_reply = REPLY_NORMAL; _reply = REPLY_NORMAL;
} }
void Modbus::setMultipleBits(uint8_t* frame, TAddress startreg, uint16_t numoutputs) void Modbus::setMultipleBits(const uint8_t *frame, TAddress startreg, uint16_t numoutputs) {
{
uint8_t bitn = 0; uint8_t bitn = 0;
uint16_t i = 0; uint16_t i = 0;
while (numoutputs--) { while (numoutputs--) {
@@ -315,15 +303,13 @@ void Modbus::setMultipleBits(uint8_t* frame, TAddress startreg, uint16_t numoutp
} }
} }
void Modbus::setMultipleWords(uint16_t* frame, TAddress startreg, uint16_t numregs) void Modbus::setMultipleWords(const uint16_t *frame, TAddress startreg, uint16_t numregs) {
{ for (uint16_t i = 0; i < numregs; i++) {
for (uint8_t i = 0; i < numregs; i++) {
Reg(startreg + i, __bswap_16(frame[i])); Reg(startreg + i, __bswap_16(frame[i]));
} }
} }
bool Modbus::onGet(TAddress address, cbModbus cb, uint16_t numregs) bool Modbus::onGet(TAddress address, cbModbus cb, uint16_t numregs) {
{
TRegister *reg; TRegister *reg;
bool atLeastOne = false; bool atLeastOne = false;
if (!cb) { if (!cb) {
@@ -340,8 +326,8 @@ bool Modbus::onGet(TAddress address, cbModbus cb, uint16_t numregs)
} }
return atLeastOne; return atLeastOne;
} }
bool Modbus::onSet(TAddress address, cbModbus cb, uint16_t numregs)
{ bool Modbus::onSet(TAddress address, cbModbus cb, uint16_t numregs) {
TRegister *reg; TRegister *reg;
bool atLeastOne = false; bool atLeastOne = false;
if (!cb) { if (!cb) {
@@ -359,25 +345,27 @@ bool Modbus::onSet(TAddress address, cbModbus cb, uint16_t numregs)
return atLeastOne; return atLeastOne;
} }
bool Modbus::removeOnSet(TAddress address, cbModbus cb, uint16_t numregs) bool Modbus::removeOnSet(TAddress address, cbModbus cb, uint16_t numregs) {
{
while (numregs--) { while (numregs--) {
_callbacks.erase(remove_if(_callbacks.begin(), _callbacks.end(), [address, cb](TCallback entry) { return entry.type == TCallback::ON_SET && entry.address == address && (!cb || entry.cb == cb); }), _callbacks.end()); _callbacks.erase(remove_if(_callbacks.begin(), _callbacks.end(), [address, cb](TCallback entry) {
address++; return entry.type == TCallback::ON_SET && entry.address == address && (!cb || entry.cb == cb);
} }), _callbacks.end());
return false;
}
bool Modbus::removeOnGet(TAddress address, cbModbus cb, uint16_t numregs)
{
while (numregs--) {
_callbacks.erase(remove_if(_callbacks.begin(), _callbacks.end(), [address, cb](TCallback entry) { return entry.type == TCallback::ON_GET && entry.address == address && (!cb || entry.cb == cb); }), _callbacks.end());
address++; address++;
} }
return false; return false;
} }
bool Modbus::readSlave(uint16_t address, uint16_t numregs, FunctionCode fn) bool Modbus::removeOnGet(TAddress address, cbModbus cb, uint16_t numregs) {
{ while (numregs--) {
_callbacks.erase(remove_if(_callbacks.begin(), _callbacks.end(), [address, cb](TCallback entry) {
return entry.type == TCallback::ON_GET && entry.address == address && (!cb || entry.cb == cb);
}), _callbacks.end());
address++;
}
return false;
}
bool Modbus::readSlave(uint16_t address, uint16_t numregs, FunctionCode fn) {
free(_frame); free(_frame);
_len = 5; _len = 5;
_frame = (uint8_t *) malloc(_len); _frame = (uint8_t *) malloc(_len);
@@ -389,8 +377,7 @@ bool Modbus::readSlave(uint16_t address, uint16_t numregs, FunctionCode fn)
return true; return true;
} }
bool Modbus::writeSlaveBits(TAddress startreg, uint16_t to, uint16_t numregs, FunctionCode fn, bool* data) bool Modbus::writeSlaveBits(TAddress startreg, uint16_t to, uint16_t numregs, FunctionCode fn, bool *data) {
{
free(_frame); free(_frame);
_len = 6 + numregs / 8; _len = 6 + numregs / 8;
if (numregs % 8) if (numregs % 8)
@@ -416,8 +403,7 @@ bool Modbus::writeSlaveBits(TAddress startreg, uint16_t to, uint16_t numregs, Fu
return false; return false;
} }
bool Modbus::writeSlaveWords(TAddress startreg, uint16_t to, uint16_t numregs, FunctionCode fn, uint16_t* data) bool Modbus::writeSlaveWords(TAddress startreg, uint16_t to, uint16_t numregs, FunctionCode fn, const uint16_t *data) {
{
free(_frame); free(_frame);
_len = 6 + 2 * numregs; _len = 6 + 2 * numregs;
_frame = (uint8_t *) malloc(_len); _frame = (uint8_t *) malloc(_len);
@@ -429,8 +415,8 @@ bool Modbus::writeSlaveWords(TAddress startreg, uint16_t to, uint16_t numregs, F
_frame[4] = numregs & 0x00FF; _frame[4] = numregs & 0x00FF;
_frame[5] = _len - 6; _frame[5] = _len - 6;
if (data) { if (data) {
uint16_t* frame = (uint16_t*)(_frame + 6); auto *frame = (uint16_t *) (_frame + 6);
for (uint8_t i = 0; i < numregs; i++) { for (uint16_t i = 0; i < numregs; i++) {
frame[i] = __bswap_16(data[i]); frame[i] = __bswap_16(data[i]);
} }
} else { } else {
@@ -442,8 +428,7 @@ bool Modbus::writeSlaveWords(TAddress startreg, uint16_t to, uint16_t numregs, F
return false; return false;
} }
void Modbus::boolToBits(uint8_t* dst, bool* src, uint16_t numregs) void Modbus::boolToBits(uint8_t *dst, const bool *src, uint16_t numregs) {
{
uint8_t bitn = 0; uint8_t bitn = 0;
uint16_t i = 0; uint16_t i = 0;
uint16_t j = 0; uint16_t j = 0;
@@ -461,8 +446,7 @@ void Modbus::boolToBits(uint8_t* dst, bool* src, uint16_t numregs)
} }
} }
void Modbus::bitsToBool(bool* dst, uint8_t* src, uint16_t numregs) void Modbus::bitsToBool(bool *dst, const uint8_t *src, uint16_t numregs) {
{
uint8_t bitn = 0; uint8_t bitn = 0;
uint16_t i = 0; uint16_t i = 0;
uint16_t j = 0; uint16_t j = 0;
@@ -477,8 +461,7 @@ void Modbus::bitsToBool(bool* dst, uint8_t* src, uint16_t numregs)
} }
} }
void Modbus::masterPDU(uint8_t* frame, uint8_t* sourceFrame, TAddress startreg, uint16_t* output) void Modbus::masterPDU(uint8_t *frame, const uint8_t *sourceFrame, TAddress startreg, uint16_t *output) {
{
uint8_t fcode = frame[0]; uint8_t fcode = frame[0];
_reply = EX_SUCCESS; _reply = EX_SUCCESS;
if ((fcode & 0x80) != 0) { if ((fcode & 0x80) != 0) {
@@ -533,146 +516,142 @@ void Modbus::masterPDU(uint8_t* frame, uint8_t* sourceFrame, TAddress startreg,
} }
} }
void Modbus::cbEnable(bool state) void Modbus::cbEnable(bool state) {
{
cbEnabled = state; cbEnabled = state;
} }
void Modbus::cbDisable()
{ void Modbus::cbDisable() {
cbEnable(false); cbEnable(false);
} }
bool Modbus::addHreg(uint16_t offset, uint16_t value, uint16_t numregs) bool Modbus::addHreg(uint16_t offset, uint16_t value, uint16_t numregs) {
{
return addReg(HREG(offset), value, numregs); return addReg(HREG(offset), value, numregs);
} }
bool Modbus::Hreg(uint16_t offset, uint16_t value)
{ bool Modbus::Hreg(uint16_t offset, uint16_t value) {
return Reg(HREG(offset), value); return Reg(HREG(offset), value);
} }
uint16_t Modbus::Hreg(uint16_t offset)
{ uint16_t Modbus::Hreg(uint16_t offset) {
return Reg(HREG(offset)); return Reg(HREG(offset));
} }
uint16_t Modbus::removeHreg(uint16_t offset, uint16_t numregs)
{ uint16_t Modbus::removeHreg(uint16_t offset, uint16_t numregs) {
return removeReg(HREG(offset), numregs); return removeReg(HREG(offset), numregs);
} }
bool Modbus::addCoil(uint16_t offset, bool value, uint16_t numregs)
{ bool Modbus::addCoil(uint16_t offset, bool value, uint16_t numregs) {
return addReg(COIL(offset), COIL_VAL(value), numregs); return addReg(COIL(offset), COIL_VAL(value), numregs);
} }
bool Modbus::addIsts(uint16_t offset, bool value, uint16_t numregs)
{ bool Modbus::addIsts(uint16_t offset, bool value, uint16_t numregs) {
return addReg(ISTS(offset), ISTS_VAL(value), numregs); return addReg(ISTS(offset), ISTS_VAL(value), numregs);
} }
bool Modbus::addIreg(uint16_t offset, uint16_t value, uint16_t numregs)
{ bool Modbus::addIreg(uint16_t offset, uint16_t value, uint16_t numregs) {
return addReg(IREG(offset), value, numregs); return addReg(IREG(offset), value, numregs);
} }
bool Modbus::Coil(uint16_t offset, bool value)
{ bool Modbus::Coil(uint16_t offset, bool value) {
return Reg(COIL(offset), COIL_VAL(value)); return Reg(COIL(offset), COIL_VAL(value));
} }
bool Modbus::Ists(uint16_t offset, bool value)
{ bool Modbus::Ists(uint16_t offset, bool value) {
return Reg(ISTS(offset), ISTS_VAL(value)); return Reg(ISTS(offset), ISTS_VAL(value));
} }
bool Modbus::Ireg(uint16_t offset, uint16_t value)
{ bool Modbus::Ireg(uint16_t offset, uint16_t value) {
return Reg(IREG(offset), value); return Reg(IREG(offset), value);
} }
bool Modbus::Coil(uint16_t offset)
{ bool Modbus::Coil(uint16_t offset) {
return COIL_BOOL(Reg(COIL(offset))); return COIL_BOOL(Reg(COIL(offset)));
} }
bool Modbus::Ists(uint16_t offset)
{ bool Modbus::Ists(uint16_t offset) {
return ISTS_BOOL(Reg(ISTS(offset))); return ISTS_BOOL(Reg(ISTS(offset)));
} }
uint16_t Modbus::Ireg(uint16_t offset)
{ uint16_t Modbus::Ireg(uint16_t offset) {
return Reg(IREG(offset)); return Reg(IREG(offset));
} }
bool Modbus::removeCoil(uint16_t offset, uint16_t numregs)
{ bool Modbus::removeCoil(uint16_t offset, uint16_t numregs) {
return removeReg(COIL(offset), numregs); return removeReg(COIL(offset), numregs);
} }
bool Modbus::removeIsts(uint16_t offset, uint16_t numregs)
{ bool Modbus::removeIsts(uint16_t offset, uint16_t numregs) {
return removeReg(ISTS(offset), numregs); return removeReg(ISTS(offset), numregs);
} }
bool Modbus::removeIreg(uint16_t offset, uint16_t numregs)
{ bool Modbus::removeIreg(uint16_t offset, uint16_t numregs) {
return removeReg(IREG(offset), numregs); return removeReg(IREG(offset), numregs);
} }
bool Modbus::onGetCoil(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::onGetCoil(uint16_t offset, cbModbus cb, uint16_t numregs) {
return onGet(COIL(offset), cb, numregs); return onGet(COIL(offset), cb, numregs);
} }
bool Modbus::onSetCoil(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::onSetCoil(uint16_t offset, cbModbus cb, uint16_t numregs) {
return onSet(COIL(offset), cb, numregs); return onSet(COIL(offset), cb, numregs);
} }
bool Modbus::onGetHreg(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::onGetHreg(uint16_t offset, cbModbus cb, uint16_t numregs) {
return onGet(HREG(offset), cb, numregs); return onGet(HREG(offset), cb, numregs);
} }
bool Modbus::onSetHreg(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::onSetHreg(uint16_t offset, cbModbus cb, uint16_t numregs) {
return onSet(HREG(offset), cb, numregs); return onSet(HREG(offset), cb, numregs);
} }
bool Modbus::onGetIsts(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::onGetIsts(uint16_t offset, cbModbus cb, uint16_t numregs) {
return onGet(ISTS(offset), cb, numregs); return onGet(ISTS(offset), cb, numregs);
} }
bool Modbus::onSetIsts(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::onSetIsts(uint16_t offset, cbModbus cb, uint16_t numregs) {
return onSet(ISTS(offset), cb, numregs); return onSet(ISTS(offset), cb, numregs);
} }
bool Modbus::onGetIreg(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::onGetIreg(uint16_t offset, cbModbus cb, uint16_t numregs) {
return onGet(IREG(offset), cb, numregs); return onGet(IREG(offset), cb, numregs);
} }
bool Modbus::onSetIreg(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::onSetIreg(uint16_t offset, cbModbus cb, uint16_t numregs) {
return onSet(IREG(offset), cb, numregs); return onSet(IREG(offset), cb, numregs);
} }
bool Modbus::removeOnGetCoil(uint16_t offset, cbModbus cb, uint16_t numregs) bool Modbus::removeOnGetCoil(uint16_t offset, cbModbus cb, uint16_t numregs) {
{
return removeOnGet(COIL(offset), cb, numregs); return removeOnGet(COIL(offset), cb, numregs);
} }
bool Modbus::removeOnSetCoil(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::removeOnSetCoil(uint16_t offset, cbModbus cb, uint16_t numregs) {
return removeOnSet(COIL(offset), cb, numregs); return removeOnSet(COIL(offset), cb, numregs);
} }
bool Modbus::removeOnGetHreg(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::removeOnGetHreg(uint16_t offset, cbModbus cb, uint16_t numregs) {
return removeOnGet(HREG(offset), cb, numregs); return removeOnGet(HREG(offset), cb, numregs);
} }
bool Modbus::removeOnSetHreg(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::removeOnSetHreg(uint16_t offset, cbModbus cb, uint16_t numregs) {
return removeOnSet(HREG(offset), cb, numregs); return removeOnSet(HREG(offset), cb, numregs);
} }
bool Modbus::removeOnGetIsts(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::removeOnGetIsts(uint16_t offset, cbModbus cb, uint16_t numregs) {
return removeOnGet(ISTS(offset), cb, numregs); return removeOnGet(ISTS(offset), cb, numregs);
} }
bool Modbus::removeOnSetIsts(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::removeOnSetIsts(uint16_t offset, cbModbus cb, uint16_t numregs) {
return removeOnSet(ISTS(offset), cb, numregs); return removeOnSet(ISTS(offset), cb, numregs);
} }
bool Modbus::removeOnGetIreg(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::removeOnGetIreg(uint16_t offset, cbModbus cb, uint16_t numregs) {
return removeOnGet(IREG(offset), cb, numregs); return removeOnGet(IREG(offset), cb, numregs);
} }
bool Modbus::removeOnSetIreg(uint16_t offset, cbModbus cb, uint16_t numregs)
{ bool Modbus::removeOnSetIreg(uint16_t offset, cbModbus cb, uint16_t numregs) {
return removeOnSet(IREG(offset), cb, numregs); return removeOnSet(IREG(offset), cb, numregs);
} }
Modbus::~Modbus() Modbus::~Modbus() {
{
free(_frame); free(_frame);
} }

122
Modbus.h
View File

@@ -8,6 +8,7 @@
#include "mbed.h" #include "mbed.h"
#include <algorithm> #include <algorithm>
#include <vector> #include <vector>
#ifdef ARDUINO_ARCH_ESP32 #ifdef ARDUINO_ARCH_ESP32
#include <byteswap.h> #include <byteswap.h>
#endif #endif
@@ -42,63 +43,67 @@ struct TRegister;
typedef uint16_t (*cbModbus)(TRegister *reg, uint16_t val); // Callback function Type typedef uint16_t (*cbModbus)(TRegister *reg, uint16_t val); // Callback function Type
struct TAddress { struct TAddress {
enum RegType { COIL, enum RegType {
COIL,
ISTS, ISTS,
IREG, IREG,
HREG }; HREG
};
RegType type; RegType type;
uint16_t address; uint16_t address;
bool operator==(const TAddress& obj) const
{ // TAddress == TAddress bool operator==(const TAddress &obj) const { // TAddress == TAddress
return type == obj.type && address == obj.address; return type == obj.type && address == obj.address;
} }
bool operator!=(const TAddress& obj) const
{ // TAddress != TAddress bool operator!=(const TAddress &obj) const { // TAddress != TAddress
return type != obj.type || address != obj.address; return type != obj.type || address != obj.address;
} }
TAddress& operator++()
{ // ++TAddress TAddress &operator++() { // ++TAddress
address++; address++;
return *this; return *this;
} }
TAddress operator++(int)
{ // TAddress++ const TAddress operator++(int) { // TAddress++
TAddress result(*this); TAddress result(*this);
++(*this); ++(*this);
return result; return result;
} }
TAddress& operator+=(const int& inc)
{ // TAddress += integer TAddress &operator+=(const int &inc) { // TAddress += integer
address += inc; address += inc;
return *this; return *this;
} }
const TAddress operator+(const int& inc) const
{ // TAddress + integer TAddress operator+(const int &inc) const { // TAddress + integer
TAddress result(*this); TAddress result(*this);
result.address += inc; result.address += inc;
return result; return result;
} }
bool isCoil()
{ bool isCoil() const {
return type == COIL; return type == COIL;
} }
bool isIsts()
{ bool isIsts() const {
return type == ISTS; return type == ISTS;
} }
bool isIreg()
{ bool isIreg() const {
return type == IREG; return type == IREG;
} }
bool isHreg()
{ bool isHreg() const {
return type == HREG; return type == HREG;
} }
}; };
struct TCallback { struct TCallback {
enum CallbackType { ON_SET, enum CallbackType {
ON_GET }; ON_SET,
ON_GET
};
CallbackType type; CallbackType type;
TAddress address; TAddress address;
cbModbus cb; cbModbus cb;
@@ -107,8 +112,8 @@ struct TCallback {
struct TRegister { struct TRegister {
TAddress address; TAddress address;
uint16_t value; uint16_t value;
bool operator==(const TRegister& obj) const
{ bool operator==(const TRegister &obj) const {
return address == obj.address; return address == obj.address;
} }
}; };
@@ -151,23 +156,41 @@ public:
EX_CONNECTION_LOST = 0xE5, // Custom. Connection with device lost EX_CONNECTION_LOST = 0xE5, // Custom. Connection with device lost
EX_CANCEL = 0xE6 // Custom. Transaction/request canceled EX_CANCEL = 0xE6 // Custom. Transaction/request canceled
}; };
~Modbus(); ~Modbus();
bool addHreg(uint16_t offset, uint16_t value = 0, uint16_t numregs = 1); bool addHreg(uint16_t offset, uint16_t value = 0, uint16_t numregs = 1);
bool Hreg(uint16_t offset, uint16_t value); bool Hreg(uint16_t offset, uint16_t value);
uint16_t Hreg(uint16_t offset); uint16_t Hreg(uint16_t offset);
uint16_t removeHreg(uint16_t offset, uint16_t numregs = 1); uint16_t removeHreg(uint16_t offset, uint16_t numregs = 1);
bool addCoil(uint16_t offset, bool value = false, uint16_t numregs = 1); bool addCoil(uint16_t offset, bool value = false, uint16_t numregs = 1);
bool addIsts(uint16_t offset, bool value = false, uint16_t numregs = 1); bool addIsts(uint16_t offset, bool value = false, uint16_t numregs = 1);
bool addIreg(uint16_t offset, uint16_t value = 0, uint16_t numregs = 1); bool addIreg(uint16_t offset, uint16_t value = 0, uint16_t numregs = 1);
bool Coil(uint16_t offset, bool value); bool Coil(uint16_t offset, bool value);
bool Ists(uint16_t offset, bool value); bool Ists(uint16_t offset, bool value);
bool Ireg(uint16_t offset, uint16_t value); bool Ireg(uint16_t offset, uint16_t value);
bool Coil(uint16_t offset); bool Coil(uint16_t offset);
bool Ists(uint16_t offset); bool Ists(uint16_t offset);
uint16_t Ireg(uint16_t offset); uint16_t Ireg(uint16_t offset);
bool removeCoil(uint16_t offset, uint16_t numregs = 1); bool removeCoil(uint16_t offset, uint16_t numregs = 1);
bool removeIsts(uint16_t offset, uint16_t numregs = 1); bool removeIsts(uint16_t offset, uint16_t numregs = 1);
bool removeIreg(uint16_t offset, uint16_t numregs = 1); bool removeIreg(uint16_t offset, uint16_t numregs = 1);
/* /*
bool Hreg(uint16_t offset, uint16_t* value); bool Hreg(uint16_t offset, uint16_t* value);
bool Coil(uint16_t offset, bool* value); bool Coil(uint16_t offset, bool* value);
@@ -175,38 +198,57 @@ public:
bool Ireg(uint16_t offset, uint16_t* value); bool Ireg(uint16_t offset, uint16_t* value);
*/ */
void cbEnable(bool state = true); void cbEnable(bool state = true);
void cbDisable(); void cbDisable();
bool onGetCoil(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool onGetCoil(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool onSetCoil(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool onSetCoil(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool onGetHreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool onGetHreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool onSetHreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool onSetHreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool onGetIsts(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool onGetIsts(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool onSetIsts(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool onSetIsts(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool onGetIreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool onGetIreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool onSetIreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool onSetIreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnGetCoil(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnGetCoil(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnSetCoil(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnSetCoil(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnGetHreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnGetHreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnSetHreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnSetHreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnGetIsts(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnGetIsts(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnSetIsts(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnSetIsts(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnGetIreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnGetIreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnSetIreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnSetIreg(uint16_t offset, cbModbus cb = nullptr, uint16_t numregs = 1);
private: private:
void readBits(TAddress startreg, uint16_t numregs, FunctionCode fn); void readBits(TAddress startreg, uint16_t numregs, FunctionCode fn);
void readWords(TAddress startreg, uint16_t numregs, FunctionCode fn); void readWords(TAddress startreg, uint16_t numregs, FunctionCode fn);
void setMultipleBits(uint8_t* frame, TAddress startreg, uint16_t numoutputs); void setMultipleBits(const uint8_t *frame, TAddress startreg, uint16_t numoutputs);
void setMultipleWords(uint16_t* frame, TAddress startreg, uint16_t numoutputs);
void setMultipleWords(const uint16_t *frame, TAddress startreg, uint16_t numoutputs);
void getMultipleBits(uint8_t *frame, TAddress startreg, uint16_t numregs); void getMultipleBits(uint8_t *frame, TAddress startreg, uint16_t numregs);
void getMultipleWords(uint16_t *frame, TAddress startreg, uint16_t numregs); void getMultipleWords(uint16_t *frame, TAddress startreg, uint16_t numregs);
void bitsToBool(bool* dst, uint8_t* src, uint16_t numregs); static void bitsToBool(bool *dst, const uint8_t *src, uint16_t numregs);
void boolToBits(uint8_t* dst, bool* src, uint16_t numregs);
static void boolToBits(uint8_t *dst, const bool *src, uint16_t numregs);
protected: protected:
//Reply Types //Reply Types
@@ -225,20 +267,27 @@ protected:
uint16_t _len = 0; uint16_t _len = 0;
uint8_t _reply = 0; uint8_t _reply = 0;
bool cbEnabled = true; bool cbEnabled = true;
uint16_t mbCallback(TRegister *reg, uint16_t val, TCallback::CallbackType t); uint16_t mbCallback(TRegister *reg, uint16_t val, TCallback::CallbackType t);
TRegister *searchRegister(TAddress addr); TRegister *searchRegister(TAddress addr);
void exceptionResponse(FunctionCode fn, ResultCode excode); // Fills _frame with response void exceptionResponse(FunctionCode fn, ResultCode excode); // Fills _frame with response
void successResponce(TAddress startreg, uint16_t numoutputs, FunctionCode fn); // Fills frame with response void successResponce(TAddress startreg, uint16_t numoutputs, FunctionCode fn); // Fills frame with response
void slavePDU(uint8_t *frame); //For Slave void slavePDU(uint8_t *frame); //For Slave
void masterPDU(uint8_t* frame, uint8_t* sourceFrame, TAddress startreg, uint16_t* output = nullptr); //For Master void
masterPDU(uint8_t *frame, const uint8_t *sourceFrame, TAddress startreg, uint16_t *output = nullptr); //For Master
// frame - data received form slave // frame - data received form slave
// sourceFrame - data have sent fo slave // sourceFrame - data have sent fo slave
// startreg - local register to start put data to // startreg - local register to start put data to
// output - if not null put data to the buffer insted local registers. output assumed to by array of uint16_t or boolean // output - if not null put data to the buffer insted local registers. output assumed to by array of uint16_t or boolean
bool readSlave(uint16_t address, uint16_t numregs, FunctionCode fn); bool readSlave(uint16_t address, uint16_t numregs, FunctionCode fn);
bool writeSlaveBits(TAddress startreg, uint16_t to, uint16_t numregs, FunctionCode fn, bool *data = nullptr); bool writeSlaveBits(TAddress startreg, uint16_t to, uint16_t numregs, FunctionCode fn, bool *data = nullptr);
bool writeSlaveWords(TAddress startreg, uint16_t to, uint16_t numregs, FunctionCode fn, uint16_t* data = nullptr);
bool
writeSlaveWords(TAddress startreg, uint16_t to, uint16_t numregs, FunctionCode fn, const uint16_t *data = nullptr);
// startreg - local register to get data from // startreg - local register to get data from
// to - slave register to write data to // to - slave register to write data to
// numregs - number of registers // numregs - number of registers
@@ -246,16 +295,23 @@ protected:
// data - if null use local registers. Otherwise use data from array to erite to slave // data - if null use local registers. Otherwise use data from array to erite to slave
bool addReg(TAddress address, uint16_t value = 0, uint16_t numregs = 1); bool addReg(TAddress address, uint16_t value = 0, uint16_t numregs = 1);
bool Reg(TAddress address, uint16_t value); bool Reg(TAddress address, uint16_t value);
uint16_t Reg(TAddress address); uint16_t Reg(TAddress address);
bool removeReg(TAddress address, uint16_t numregs = 1); bool removeReg(TAddress address, uint16_t numregs = 1);
bool onGet(TAddress address, cbModbus cb = nullptr, uint16_t numregs = 1); bool onGet(TAddress address, cbModbus cb = nullptr, uint16_t numregs = 1);
bool onSet(TAddress address, cbModbus cb = nullptr, uint16_t numregs = 1); bool onSet(TAddress address, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnSet(TAddress address, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnSet(TAddress address, cbModbus cb = nullptr, uint16_t numregs = 1);
bool removeOnGet(TAddress address, cbModbus cb = nullptr, uint16_t numregs = 1); bool removeOnGet(TAddress address, cbModbus cb = nullptr, uint16_t numregs = 1);
virtual uint32_t eventSource() { return 0; } virtual uint32_t eventSource() { return 0; }
}; };
typedef bool (*cbTransaction)(Modbus::ResultCode event, uint16_t transactionId, void* data); // Callback skeleton for requests typedef bool (*cbTransaction)(Modbus::ResultCode event, uint16_t transactionId,
void *data); // Callback skeleton for requests

143
ModbusRTU.cpp
View File

@@ -11,28 +11,44 @@
// Table of CRC values // Table of CRC values
static const uint16_t _auchCRC[] = { static const uint16_t _auchCRC[] = {
0x0000, 0xC1C0, 0x81C1, 0x4001, 0x01C3, 0xC003, 0x8002, 0x41C2, 0x01C6, 0xC006, 0x8007, 0x41C7, 0x0005, 0xC1C5, 0x81C4, 0x0000, 0xC1C0, 0x81C1, 0x4001, 0x01C3, 0xC003, 0x8002, 0x41C2, 0x01C6, 0xC006, 0x8007, 0x41C7, 0x0005, 0xC1C5,
0x4004, 0x01CC, 0xC00C, 0x800D, 0x41CD, 0x000F, 0xC1CF, 0x81CE, 0x400E, 0x000A, 0xC1CA, 0x81CB, 0x400B, 0x01C9, 0xC009, 0x81C4,
0x8008, 0x41C8, 0x01D8, 0xC018, 0x8019, 0x41D9, 0x001B, 0xC1DB, 0x81DA, 0x401A, 0x001E, 0xC1DE, 0x81DF, 0x401F, 0x01DD, 0x4004, 0x01CC, 0xC00C, 0x800D, 0x41CD, 0x000F, 0xC1CF, 0x81CE, 0x400E, 0x000A, 0xC1CA, 0x81CB, 0x400B, 0x01C9,
0xC01D, 0x801C, 0x41DC, 0x0014, 0xC1D4, 0x81D5, 0x4015, 0x01D7, 0xC017, 0x8016, 0x41D6, 0x01D2, 0xC012, 0x8013, 0x41D3, 0xC009,
0x0011, 0xC1D1, 0x81D0, 0x4010, 0x01F0, 0xC030, 0x8031, 0x41F1, 0x0033, 0xC1F3, 0x81F2, 0x4032, 0x0036, 0xC1F6, 0x81F7, 0x8008, 0x41C8, 0x01D8, 0xC018, 0x8019, 0x41D9, 0x001B, 0xC1DB, 0x81DA, 0x401A, 0x001E, 0xC1DE, 0x81DF, 0x401F,
0x4037, 0x01F5, 0xC035, 0x8034, 0x41F4, 0x003C, 0xC1FC, 0x81FD, 0x403D, 0x01FF, 0xC03F, 0x803E, 0x41FE, 0x01FA, 0xC03A, 0x01DD,
0x803B, 0x41FB, 0x0039, 0xC1F9, 0x81F8, 0x4038, 0x0028, 0xC1E8, 0x81E9, 0x4029, 0x01EB, 0xC02B, 0x802A, 0x41EA, 0x01EE, 0xC01D, 0x801C, 0x41DC, 0x0014, 0xC1D4, 0x81D5, 0x4015, 0x01D7, 0xC017, 0x8016, 0x41D6, 0x01D2, 0xC012, 0x8013,
0xC02E, 0x802F, 0x41EF, 0x002D, 0xC1ED, 0x81EC, 0x402C, 0x01E4, 0xC024, 0x8025, 0x41E5, 0x0027, 0xC1E7, 0x81E6, 0x4026, 0x41D3,
0x0022, 0xC1E2, 0x81E3, 0x4023, 0x01E1, 0xC021, 0x8020, 0x41E0, 0x01A0, 0xC060, 0x8061, 0x41A1, 0x0063, 0xC1A3, 0x81A2, 0x0011, 0xC1D1, 0x81D0, 0x4010, 0x01F0, 0xC030, 0x8031, 0x41F1, 0x0033, 0xC1F3, 0x81F2, 0x4032, 0x0036, 0xC1F6,
0x4062, 0x0066, 0xC1A6, 0x81A7, 0x4067, 0x01A5, 0xC065, 0x8064, 0x41A4, 0x006C, 0xC1AC, 0x81AD, 0x406D, 0x01AF, 0xC06F, 0x81F7,
0x806E, 0x41AE, 0x01AA, 0xC06A, 0x806B, 0x41AB, 0x0069, 0xC1A9, 0x81A8, 0x4068, 0x0078, 0xC1B8, 0x81B9, 0x4079, 0x01BB, 0x4037, 0x01F5, 0xC035, 0x8034, 0x41F4, 0x003C, 0xC1FC, 0x81FD, 0x403D, 0x01FF, 0xC03F, 0x803E, 0x41FE, 0x01FA,
0xC07B, 0x807A, 0x41BA, 0x01BE, 0xC07E, 0x807F, 0x41BF, 0x007D, 0xC1BD, 0x81BC, 0x407C, 0x01B4, 0xC074, 0x8075, 0x41B5, 0xC03A,
0x0077, 0xC1B7, 0x81B6, 0x4076, 0x0072, 0xC1B2, 0x81B3, 0x4073, 0x01B1, 0xC071, 0x8070, 0x41B0, 0x0050, 0xC190, 0x8191, 0x803B, 0x41FB, 0x0039, 0xC1F9, 0x81F8, 0x4038, 0x0028, 0xC1E8, 0x81E9, 0x4029, 0x01EB, 0xC02B, 0x802A, 0x41EA,
0x4051, 0x0193, 0xC053, 0x8052, 0x4192, 0x0196, 0xC056, 0x8057, 0x4197, 0x0055, 0xC195, 0x8194, 0x4054, 0x019C, 0xC05C, 0x01EE,
0x805D, 0x419D, 0x005F, 0xC19F, 0x819E, 0x405E, 0x005A, 0xC19A, 0x819B, 0x405B, 0x0199, 0xC059, 0x8058, 0x4198, 0x0188, 0xC02E, 0x802F, 0x41EF, 0x002D, 0xC1ED, 0x81EC, 0x402C, 0x01E4, 0xC024, 0x8025, 0x41E5, 0x0027, 0xC1E7, 0x81E6,
0xC048, 0x8049, 0x4189, 0x004B, 0xC18B, 0x818A, 0x404A, 0x004E, 0xC18E, 0x818F, 0x404F, 0x018D, 0xC04D, 0x804C, 0x418C, 0x4026,
0x0044, 0xC184, 0x8185, 0x4045, 0x0187, 0xC047, 0x8046, 0x4186, 0x0182, 0xC042, 0x8043, 0x4183, 0x0041, 0xC181, 0x8180, 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 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; uint8_t i = 0xFF ^ address;
uint16_t val = pgm_read_word(_auchCRC + i); uint16_t val = pgm_read_word(_auchCRC + i);
uint8_t CRCHi = 0xFF ^ highByte(val); // Hi 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; return (CRCHi << 8) | CRCLo;
} }
void ModbusRTU::setBaudrate(uint32_t baud) void ModbusRTU::setBaudrate(uint32_t baud) {
{
if (baud > 19200) { if (baud > 19200) {
_t = 50ms; _t = 50ms;
} else { } else {
@@ -56,16 +71,14 @@ void ModbusRTU::setBaudrate(uint32_t baud)
} }
} }
bool ModbusRTU::begin(UnbufferedSerial* port) bool ModbusRTU::begin(UnbufferedSerial *port) {
{
_port = port; _port = port;
_t = 50ms; _t = 50ms;
_port->attach(callback(this, &ModbusRTU::SerialRXHandler), SerialBase::RxIrq); _port->attach(callback(this, &ModbusRTU::SerialRXHandler), SerialBase::RxIrq);
return true; return true;
} }
bool ModbusRTU::begin(UnbufferedSerial* port, PinName txPin) bool ModbusRTU::begin(UnbufferedSerial *port, PinName txPin) {
{
uint32_t baud = 0; uint32_t baud = 0;
#if defined(ESP32) || defined(ESP8266) #if defined(ESP32) || defined(ESP8266)
// baudRate() only available with ESP32+ESP8266 // baudRate() only available with ESP32+ESP8266
@@ -85,8 +98,7 @@ bool ModbusRTU::begin(UnbufferedSerial* port, PinName txPin)
return true; return true;
} }
void ModbusRTU::SerialRXHandler() void ModbusRTU::SerialRXHandler() {
{
char c; char c;
if (_port->readable()) { if (_port->readable()) {
_port->read(&c, 1); _port->read(&c, 1);
@@ -94,8 +106,7 @@ void ModbusRTU::SerialRXHandler()
} }
} }
void ModbusRTU::SerialTXHandler() void ModbusRTU::SerialTXHandler() {
{
//Здесь проверка на TC а не на RX!!!! //Здесь проверка на TC а не на RX!!!!
//Изменено в serial_api.c //Изменено в serial_api.c
if (_port->writeable()) { if (_port->writeable()) {
@@ -104,8 +115,7 @@ void ModbusRTU::SerialTXHandler()
} }
} }
uint8_t ModbusRTU::Read(void) uint8_t ModbusRTU::Read() {
{
uint8_t cur = 0xff; uint8_t cur = 0xff;
if (!RX_RingBuff.empty()) { if (!RX_RingBuff.empty()) {
RX_RingBuff.pop((char &) cur); RX_RingBuff.pop((char &) cur);
@@ -113,8 +123,7 @@ uint8_t ModbusRTU::Read(void)
return cur; return cur;
} }
uint8_t ModbusRTU::isDataAvailable(void) uint8_t ModbusRTU::isDataAvailable() {
{
if (RX_RingBuff.full()) { if (RX_RingBuff.full()) {
RX_RingBuff.reset(); RX_RingBuff.reset();
} }
@@ -133,8 +142,7 @@ bool ModbusRTU::begin(SoftwareSerial* port, int16_t txPin)
} }
#endif #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); uint16_t newCrc = crc16(slaveId, frame, len);
char crc[2]; char crc[2];
crc[0] = newCrc >> 8; crc[0] = newCrc >> 8;
@@ -153,8 +161,7 @@ bool ModbusRTU::rawSend(uint8_t slaveId, uint8_t* frame, uint8_t len)
return true; 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) if (_slaveId)
return false; // Break if waiting for previous request result return false; // Break if waiting for previous request result
rawSend(slaveId, _frame, _len); rawSend(slaveId, _frame, _len);
@@ -171,8 +178,7 @@ bool ModbusRTU::send(uint8_t slaveId, TAddress startreg, cbTransaction cb, void*
return true; return true;
} }
void ModbusRTU::task() void ModbusRTU::task() {
{
if (RX_RingBuff.size() > _len) { if (RX_RingBuff.size() > _len) {
_len = RX_RingBuff.size(); _len = RX_RingBuff.size();
@@ -207,7 +213,7 @@ void ModbusRTU::task()
_len = 0; _len = 0;
return; return;
} }
for (uint8_t i = 0; i < _len; i++) { for (uint16_t i = 0; i < _len; i++) {
_frame[i] = Read(); // read data + crc _frame[i] = Read(); // read data + crc
#if defined(MODBUSRTU_DEBUG) #if defined(MODBUSRTU_DEBUG)
Serial.printf("%02X ", _frame[i]); Serial.printf("%02X ", _frame[i]);
@@ -253,8 +259,7 @@ void ModbusRTU::task()
_len = 0; _len = 0;
} }
bool ModbusRTU::cleanup() bool ModbusRTU::cleanup() {
{
// Remove timeouted request and forced event // Remove timeouted request and forced event
if (_slaveId && (Kernel::Clock::now() - _timestamp > MODBUSRTU_TIMEOUT)) { if (_slaveId && (Kernel::Clock::now() - _timestamp > MODBUSRTU_TIMEOUT)) {
if (_cb) if (_cb)
@@ -269,68 +274,59 @@ bool ModbusRTU::cleanup()
return false; 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); readSlave(offset, value, FC_WRITE_REG);
return send(slaveId, HREG(offset), cb, nullptr, cb); 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); readSlave(offset, COIL_VAL(value), FC_WRITE_COIL);
return send(slaveId, COIL(offset), cb, nullptr, cb); 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) if (numregs < 0x0001 || numregs > maxRegs << 4)
return false; return false;
readSlave(offset, numregs, FC_READ_COILS); readSlave(offset, numregs, FC_READ_COILS);
return send(slaveId, COIL(offset), cb, value); 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) if (numregs < 0x0001 || numregs > 0x07D0)
return false; return false;
writeSlaveBits(COIL(offset), offset, numregs, FC_WRITE_COILS, value); writeSlaveBits(COIL(offset), offset, numregs, FC_WRITE_COILS, value);
return send(slaveId, COIL(offset), cb, nullptr, cb); 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) if (numregs < 0x0001 || numregs > 0x007D)
return false; return false;
writeSlaveWords(HREG(offset), offset, numregs, FC_WRITE_REGS, value); writeSlaveWords(HREG(offset), offset, numregs, FC_WRITE_REGS, value);
return send(slaveId, HREG(offset), cb, nullptr, cb); 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) if (numregs < 0x0001 || numregs > maxRegs)
return false; return false;
readSlave(offset, numregs, FC_READ_REGS); readSlave(offset, numregs, FC_READ_REGS);
return send(slaveId, HREG(offset), cb, value); 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) if (numregs < 0x0001 || numregs > maxRegs << 4)
return false; return false;
readSlave(offset, numregs, FC_READ_INPUT_STAT); readSlave(offset, numregs, FC_READ_INPUT_STAT);
return send(slaveId, ISTS(offset), cb, value); 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) if (numregs < 0x0001 || numregs > maxRegs)
return false; return false;
readSlave(offset, numregs, FC_READ_INPUT_REGS); readSlave(offset, numregs, FC_READ_INPUT_REGS);
return send(slaveId, IREG(offset), cb, value); 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) if (numregs < 0x0001 || numregs > 0x07D0)
return false; return false;
if (!searchRegister(COIL(from))) 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); 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) if (numregs < 0x0001 || numregs > maxRegs << 4)
return false; return false;
#ifdef MODBUSRTU_ADD_REG #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); 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) if (numregs < 0x0001 || numregs > maxRegs << 4)
return false; return false;
#ifdef MODBUSRTU_ADD_REG #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); 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) if (numregs < 0x0001 || numregs > 0x007D)
return false; return false;
if (!searchRegister(HREG(from))) 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); 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) if (numregs < 0x0001 || numregs > maxRegs)
return false; return false;
#ifdef MODBUSRTU_ADD_REG #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); 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) if (numregs < 0x0001 || numregs > maxRegs)
return false; return false;
#ifdef MODBUSRTU_ADD_REG #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); 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) if (numregs < 0x0001 || numregs > 0x007D)
return false; return false;
if (!searchRegister(IREG(from))) 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); 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) if (numregs < 0x0001 || numregs > maxRegs << 4)
return false; return false;
if (!searchRegister(ISTS(from))) 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); 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) if (numregs < 0x0001 || numregs > maxRegs)
return false; return false;
#ifdef MODBUSRTU_ADD_REG #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); 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) if (numregs < 0x0001 || numregs > maxRegs << 4)
return false; return false;
#ifdef MODBUSRTU_ADD_REG #ifdef MODBUSRTU_ADD_REG

62
ModbusRTU.h
View File

@@ -5,6 +5,7 @@
This code is licensed under the BSD New License. See LICENSE.txt for more info. This code is licensed under the BSD New License. See LICENSE.txt for more info.
*/ */
#pragma once #pragma once
#include "mbed.h" #include "mbed.h"
#include <Modbus.h> #include <Modbus.h>
@@ -26,10 +27,15 @@ protected:
CircularBuffer<char, 200> RX_RingBuff; CircularBuffer<char, 200> RX_RingBuff;
UnbufferedSerial *_port; UnbufferedSerial *_port;
DigitalOut *_txPin; DigitalOut *_txPin;
void SerialRXHandler(); void SerialRXHandler();
void SerialTXHandler(); void SerialTXHandler();
uint8_t isDataAvailable(void);
uint8_t Read(void); uint8_t isDataAvailable();
uint8_t Read();
// unsigned int // unsigned int
Kernel::Clock::duration MODBUSRTU_TIMEOUT = 1s; Kernel::Clock::duration MODBUSRTU_TIMEOUT = 1s;
Kernel::Clock::duration _t; // inter-frame delay in mS Kernel::Clock::duration _t; // inter-frame delay in mS
@@ -45,46 +51,80 @@ protected:
#ifdef ESP32 #ifdef ESP32
portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED; portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;
#endif #endif
bool send(uint8_t slaveId, TAddress startreg, cbTransaction cb, void *data = nullptr, bool waitResponse = true); bool send(uint8_t slaveId, TAddress startreg, cbTransaction cb, void *data = nullptr, bool waitResponse = true);
// Prepare and send ModbusRTU frame. _frame buffer and _len should be filled with Modbus data // Prepare and send ModbusRTU frame. _frame buffer and _len should be filled with Modbus data
// slaveId - slave id // slaveId - slave id
// startreg - first local register to save returned data to (miningless for write to slave operations) // startreg - first local register to save returned data to (miningless for write to slave operations)
// cb - transaction callback function // cb - transaction callback function
// data - if not null use buffer to save returned data instead of local registers // data - if not null use buffer to save returned data instead of local registers
bool rawSend(uint8_t slaveId, uint8_t *frame, uint8_t len); bool rawSend(uint8_t slaveId, uint8_t *frame, uint8_t len);
bool cleanup(); // Free clients if not connected and remove timedout transactions and transaction with forced events bool cleanup(); // Free clients if not connected and remove timedout transactions and transaction with forced events
uint16_t crc16(uint8_t address, uint8_t* frame, uint8_t pdulen); static uint16_t crc16(uint8_t address, uint8_t *frame, uint8_t pdulen);
public: public:
void setBaudrate(uint32_t baud = -1); void setBaudrate(uint32_t baud = -1);
#if defined(ESP8266) #if defined(ESP8266)
bool begin(BufferedSerial* port, int16_t txPin = -1); bool begin(BufferedSerial* port, int16_t txPin = -1);
#endif #endif
bool begin(UnbufferedSerial *port, PinName txPin = NC); bool begin(UnbufferedSerial *port, PinName txPin = NC);
bool begin(UnbufferedSerial *port); bool begin(UnbufferedSerial *port);
void task(); void task();
void master() { isMaster = true; }; void master() { isMaster = true; };
void slave(uint8_t slaveId) { _slaveId = slaveId; }; void slave(uint8_t slaveId) { _slaveId = slaveId; };
uint8_t slave() { return _slaveId; }
uint8_t slave() const { return _slaveId; }
uint32_t eventSource() override { return _slaveId; } uint32_t eventSource() override { return _slaveId; }
uint16_t writeHreg(uint8_t slaveId, uint16_t offset, uint16_t value, cbTransaction cb = nullptr); uint16_t writeHreg(uint8_t slaveId, uint16_t offset, uint16_t value, cbTransaction cb = nullptr);
uint16_t writeCoil(uint8_t slaveId, uint16_t offset, bool value, cbTransaction cb = nullptr); uint16_t writeCoil(uint8_t slaveId, uint16_t offset, bool value, cbTransaction cb = nullptr);
uint16_t readCoil(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t readCoil(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t writeCoil(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t writeCoil(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t writeHreg(uint8_t slaveId, uint16_t offset, uint16_t* value, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t
writeHreg(uint8_t slaveId, uint16_t offset, uint16_t *value, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t readIsts(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t readIsts(uint8_t slaveId, uint16_t offset, bool *value, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t readHreg(uint8_t slaveId, uint16_t offset, uint16_t* value, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t readIreg(uint8_t slaveId, uint16_t offset, uint16_t* value, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t
readHreg(uint8_t slaveId, uint16_t offset, uint16_t *value, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t
readIreg(uint8_t slaveId, uint16_t offset, uint16_t *value, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t pushCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t pushCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t pullCoil(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t pullCoil(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t pullIsts(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t pullIsts(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t pushHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t pushHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t pullHreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t pullHreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t pullIreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t pullIreg(uint8_t slaveId, uint16_t from, uint16_t to, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t pullHregToIreg(uint8_t slaveId, uint16_t offset, uint16_t startreg, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t pullHregToIreg(uint8_t slaveId, uint16_t offset, uint16_t startreg, uint16_t numregs = 1,
uint16_t pullCoilToIsts(uint8_t slaveId, uint16_t offset, uint16_t startreg, uint16_t numregs = 1, cbTransaction cb = nullptr); cbTransaction cb = nullptr);
uint16_t pushIstsToCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t pushIregToHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs = 1, cbTransaction cb = nullptr); uint16_t pullCoilToIsts(uint8_t slaveId, uint16_t offset, uint16_t startreg, uint16_t numregs = 1,
cbTransaction cb = nullptr);
uint16_t
pushIstsToCoil(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs = 1, cbTransaction cb = nullptr);
uint16_t
pushIregToHreg(uint8_t slaveId, uint16_t to, uint16_t from, uint16_t numregs = 1, cbTransaction cb = nullptr);
}; };