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/*
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* Copyright (c) 2001,2016 Mario de Sousa (msousa@fe.up.pt)
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*
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* This file is part of the Modbus library for Beremiz and matiec.
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*
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* This Modbus library is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser
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* General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this Modbus library. If not, see <http://www.gnu.org/licenses/>.
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*
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* This code is made available on the understanding that it will not be
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* used in safety-critical situations without a full and competent review.
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*/
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/* mb_slave.c */
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#include <fcntl.h> /* File control definitions */
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#include <stdio.h> /* Standard input/output */
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#include <string.h>
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#include <stdlib.h>
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#include <termio.h> /* POSIX terminal control definitions */
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#include <sys/time.h> /* Time structures for select() */
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#include <unistd.h> /* POSIX Symbolic Constants */
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#include <errno.h> /* Error definitions */
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#include <netinet/in.h> /* required for htons() and ntohs() */
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#include "mb_layer1.h"
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#include "mb_slave.h"
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#include "mb_slave_private.h"
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/* #define DEBUG */ /* uncomment to see the data sent and received */
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#define modbus_write fptr_[layer1_fin].modbus_write
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#define modbus_read fptr_[layer1_fin].modbus_read
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#define modbus_init fptr_[layer1_fin].modbus_init
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#define modbus_done fptr_[layer1_fin].modbus_done
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#define modbus_connect fptr_[layer1_fin].modbus_connect
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#define modbus_listen fptr_[layer1_fin].modbus_listen
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#define modbus_close fptr_[layer1_fin].modbus_close
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#define modbus_silence_init fptr_[layer1_fin].modbus_silence_init
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#define modbus_get_min_timeout fptr_[layer1_fin].modbus_get_min_timeout
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/* the lower two bits of ttyfd are used to store the index to layer1 function pointers */
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/* layer1_fin index to fptr_[] is in lowest 2 bits of fd */
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#define get_ttyfd() int layer1_fin = fd & 3; int ttyfd = fd / 4;\
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if (fd < 0) {ttyfd = fd; layer1_fin = 0; /* use modbusTCP */}
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/******************************************/
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/******************************************/
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/** **/
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/** Global Variables... **/
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/** **/
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/******************************************/
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/******************************************/
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/* The layer 1 (RTU, ASCII, TCP) implementations will be adding some
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* header and tail bytes (e.g. CRC) to the packet we build here. Since
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* layer1 will re-use the same buffer allocated in this slave layer
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* (so as not to continuosly copy the same info from buffer to buffer),
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* we need to allocate more bytes than those strictly required for this
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* slave layer. Therefore, the extra_bytes parameter.
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*
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* Note that we add one more extra byte to the response buffer.
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* This is because some response packets will not be starting off
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* at byte 0, but rather at byte 1 of the buffer. This is in order
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* to guarantee that the data that is sent on the buffer is aligned
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* on even bytes (the 16 bit words!). This will allow the application
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* (layer above the one implemented in this file - i.e. the callback
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* functions) to reference this memory as an u16 *, without producing
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* 'bus error' messages in some embedded devices that do not allow
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* acessing u16 on odd numbered addresses.
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*/
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static int buff_extra_bytes_;
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#define RESP_BUFFER_SIZE (MAX_L2_FRAME_LENGTH + buff_extra_bytes_ + 1)
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/******************************************/
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/******************************************/
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/** **/
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/** Local Utility functions... **/
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/** **/
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/******************************************/
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/******************************************/
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/*
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* Function to determine next transaction id.
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*
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* We use a library wide transaction id, which means that we
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* use a new transaction id no matter what slave to which we will
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* be sending the request...
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*/
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static inline u16 next_transaction_id(void) {
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static u16 next_id = 0;
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return next_id++;
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}
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/*
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* Functions to convert u16 variables
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* between network and host byte order
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*
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* NOTE: Modbus uses MSByte first, just like
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* tcp/ip, so we could be tempted to use the htons() and
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* ntohs() functions to guarantee code portability.
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*
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* However, on some embedded systems running Linux
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* these functions only work if the 16 bit words are
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* stored on even addresses. This is not always the
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* case in our code, so we have to define our own
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* conversion functions...
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*/
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/* if using gcc, use it to determine byte order... */
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#ifndef __BYTE_ORDER
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#if defined(__GNUC__)
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/* We have GCC, which should define __LITTLE_ENDIAN__ */
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# if defined(__LITTLE_ENDIAN__)
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# define __BYTE_ORDER __LITTLE_ENDIAN
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# else
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# define __BYTE_ORDER __BIG_ENDIAN
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# endif
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#endif /* __GNUC__ */
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#endif /* __BYTE_ORDER */
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/* If we still don't know byte order, try to get it from <sys/param.h> */
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#ifndef __BYTE_ORDER
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#include <sys/param.h>
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#endif
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#ifndef __BYTE_ORDER
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# ifdef BYTE_ORDER
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# if BYTE_ORDER == LITTLE_ENDIAN
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# define __BYTE_ORDER __LITTLE_ENDIAN
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# else
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# if BYTE_ORDER == BIG_ENDIAN
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# define __BYTE_ORDER __BIG_ENDIAN
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# endif
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# endif
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# endif /* BYTE_ORDER */
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#endif /* __BYTE_ORDER */
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#ifdef __BYTE_ORDER
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# if __BYTE_ORDER == __LITTLE_ENDIAN
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/**************************************************************/
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/* u16 conversion functions to use on little endian platforms */
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/**************************************************************/
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static inline u16 mb_hton(u16 w) {
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register u16 tmp;
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tmp = (w & 0x00FF);
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tmp = ((w & 0xFF00) >> 0x08) | (tmp << 0x08);
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return(tmp);
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}
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#define mb_ntoh(a) mb_hton(a)
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static inline void mb_hton_count(u16 *w, int count) {
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int i;
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for (i = 0; i < count; i++) {
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/* swap the bytes around...
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* a = a ^ b;
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* b = a ^ b;
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* a = a ^ b;
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*/
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((u8 *)(w+i))[0] ^= ((u8 *)(w+i))[1];
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((u8 *)(w+i))[1] ^= ((u8 *)(w+i))[0];
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((u8 *)(w+i))[0] ^= ((u8 *)(w+i))[1];
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}
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}
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#define mb_ntoh_count(w, count) mb_hton_count(w, count)
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# else
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# if __BYTE_ORDER == __BIG_ENDIAN
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/***********************************************************/
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/* u16 conversion functions to use on big endian platforms */
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/***********************************************************/
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/* We do not need to swap the bytes around! */
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#define mb_ntoh(val) (val)
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#define mb_hton(val) (val)
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#define mb_hton_count(w, count) /* empty ! */
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#define mb_ntoh_count(w, count) /* empty ! */
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# else
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/********************************************************/
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/* u16 conversion functions to use on generic platforms */
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/********************************************************/
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/* We don't know the byte order, so we revert to the
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* standard htons() and ntohs() ...
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*/
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static inline u16 mb_hton(u16 h_value)
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{return htons(h_value); /* return h_value; */}
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static inline u16 mb_ntoh(u16 m_value)
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{return ntohs(m_value); /* return m_value; */}
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static inline void mb_hton_count(u16 *w, int count)
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{int i; for (i = 0; i < count; i++) {w[i] = mb_hton(w[i]);}}
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static inline void mb_ntoh_count(u16 *w, int count)
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{int i; for (i = 0; i < count; i++) {w[i] = mb_ntoh(w[i]);}}
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# endif
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# endif
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#endif /* __BYTE_ORDER */
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/* Safe versions of the conversion functions!
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*
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* Note that these functions always work, whatever the endiannes
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* of the machine that executes it!
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*
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* It is also safe because the resulting value may be stored
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* on an odd address even on machines that do not allow directly
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* accessing u16 bit words on odd addresses.
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*/
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static inline int mb_hton_safe(u16 from, u16 *to_ptr) {
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((u8 *)to_ptr)[1] = (from & 0x00FF);
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((u8 *)to_ptr)[0] = ((from & 0xFF00) >> 0x08);
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return 0;
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}
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#define mb_ntoh_safe(a, b) mb_hton_safe(a, b)
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/* return Most Significant Byte of value; */
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static inline u8 msb(u16 value)
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{return (value >> 8) & 0xFF;}
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/* return Least Significant Byte of value; */
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static inline u8 lsb(u16 value)
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{return value & 0xFF;}
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#define u16_v(char_ptr) (*((u16 *)(&(char_ptr))))
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/***********************************************/
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/***********************************************/
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/** **/
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/** Handle requests from master/client **/
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/** **/
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/***********************************************/
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/***********************************************/
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/* Handle functions 0x01 and 0x02 */
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typedef int (*read_bits_callback_t)(void *arg, u16 start_addr, u16 bit_count, u8 *data_bytes);
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static int handle_read_bits (u8 *query_packet,
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u8 **resp_packet_ptr,
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u8 *error_code,
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read_bits_callback_t read_bits_callback,
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void *callback_arg
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) {
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u16 start_addr, count;
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int res;
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u8 *resp_packet;
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/* If no callback, handle as if function is not supported... */
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if (read_bits_callback == NULL)
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{*error_code = ERR_ILLEGAL_FUNCTION; return -1;}
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/* in oprder for the data in this packet to be aligned on even numbered addresses, this
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* response packet will start off at an odd numbered byte...
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* We therefore add 1 to the address where the packet starts.
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*/
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(*resp_packet_ptr)++;
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resp_packet = *resp_packet_ptr;
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/* NOTE:
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* Modbus uses high level addressing starting off from 1, but
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* this is sent as 0 on the wire!
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* We could expect the user to specify high level addressing
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* starting at 1, and do the conversion to start off at 0 here.
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* However, to do this we would then need to use an u32 data type
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* to correctly hold the address supplied by the user (which could
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* correctly be 65536, which does not fit in an u16), which would
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* in turn require us to check whether the address supplied by the user
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* is correct (i.e. <= 65536).
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* I decided to go with the other option of using an u16, and
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* requiring the user to use addressing starting off at 0!
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*/
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/* start_addr = mb_ntoh(u16_v(query_packet[2])) + 1; */
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mb_ntoh_safe(u16_v(query_packet[2]), &start_addr);
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mb_ntoh_safe(u16_v(query_packet[4]), &count);
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#ifdef DEBUG
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printf("handle_read_input_bits() called. slave=%d, function=%d, start_addr=%d, count=%d\n",
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query_packet[0], query_packet[1], start_addr, count);
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#endif
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if ((count > MAX_READ_BITS) || (count < 1))
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{*error_code = ERR_ILLEGAL_DATA_VALUE; return -1;}
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/* Remember, we are using addressing starting off at 0, in the start_addr variable! */
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/* This means that he highest acceptable address is 65535, when count=1 .... */
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/* Note the use of 65536 in the comparison will force automatic upgrade of u16 variables! */
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/* => start_addr + count will nver overflow the u16 type! */
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if (start_addr + count > 65536)
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{*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
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/* start building response frame... */
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resp_packet[0] = query_packet[0]; /* slave */
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resp_packet[1] = query_packet[1]; /* function (either 0x01 or 0x02 ! */
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resp_packet[2] = (count + 7) / 8; /* number of data bytes = ceil(count/8) */
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res = read_bits_callback(callback_arg, start_addr, count, &(resp_packet[3]));
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if (res == -2) {*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
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if (res < 0) {*error_code = ERR_SLAVE_DEVICE_FAILURE; return -1;}
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return resp_packet[2] + 3; /* packet size is data length + 3 bytes -> slave, function, count */
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}
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/* Handle function 0x01 */
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348 |
int handle_read_output_bits (u8 *query_packet, u8 **resp_packet_ptr, u8 *error_code, mb_slave_callback_t *callbacks)
|
|
|
349 |
{return handle_read_bits(query_packet, resp_packet_ptr, error_code, callbacks->read_outbits, callbacks->arg);}
|
|
|
350 |
|
|
|
351 |
/* Handle function 0x02 */
|
|
|
352 |
int handle_read_input_bits (u8 *query_packet, u8 **resp_packet_ptr, u8 *error_code, mb_slave_callback_t *callbacks)
|
|
|
353 |
{return handle_read_bits(query_packet, resp_packet_ptr, error_code, callbacks->read_inbits, callbacks->arg);}
|
|
|
354 |
|
|
|
355 |
|
|
|
356 |
|
|
|
357 |
|
|
|
358 |
/* Handle functions 0x03 and 0x04 */
|
|
|
359 |
typedef int (*read_words_callback_t)(void *arg, u16 start_addr, u16 word_count, u16 *data_words);
|
|
|
360 |
static int handle_read_words (u8 *query_packet,
|
|
|
361 |
u8 **resp_packet_ptr,
|
|
|
362 |
u8 *error_code,
|
|
|
363 |
read_words_callback_t read_words_callback,
|
|
|
364 |
void *callback_arg
|
|
|
365 |
) {
|
|
|
366 |
u16 start_addr, count;
|
|
|
367 |
int res;
|
|
|
368 |
u8 *resp_packet;
|
|
|
369 |
|
|
|
370 |
/* If no callback, handle as if function is not supported... */
|
|
|
371 |
if (read_words_callback == NULL)
|
|
|
372 |
{*error_code = ERR_ILLEGAL_FUNCTION; return -1;}
|
|
|
373 |
|
|
|
374 |
/* See equivalent comment in handle_read_bits() */
|
|
|
375 |
(*resp_packet_ptr)++;
|
|
|
376 |
resp_packet = *resp_packet_ptr;
|
|
|
377 |
|
|
|
378 |
/* See equivalent comment in handle_read_bits() */
|
|
|
379 |
mb_ntoh_safe(u16_v(query_packet[2]), &start_addr);
|
|
|
380 |
mb_ntoh_safe(u16_v(query_packet[4]), &count);
|
|
|
381 |
|
|
|
382 |
#ifdef DEBUG
|
|
|
383 |
printf("handle_read_output_words() called. slave=%d, function=%d, start_addr=%d, count=%d\n",
|
|
|
384 |
query_packet[0], query_packet[1], start_addr, count);
|
|
|
385 |
#endif
|
|
|
386 |
|
|
|
387 |
if ((count > MAX_READ_REGS) || (count < 1))
|
|
|
388 |
{*error_code = ERR_ILLEGAL_DATA_VALUE; return -1;}
|
|
|
389 |
|
|
|
390 |
/* See equivalent comment in handle_read_bits() */
|
|
|
391 |
if (start_addr + count > 65536)
|
|
|
392 |
{*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
393 |
|
|
|
394 |
/* start building response frame... */
|
|
|
395 |
resp_packet[0] = query_packet[0]; /* slave */
|
|
|
396 |
resp_packet[1] = query_packet[1]; /* function code, either 0x03 or 0x04 !!!*/
|
|
|
397 |
resp_packet[2] = count * 2; /* number of bytes of data... */
|
|
|
398 |
|
|
|
399 |
res = read_words_callback(callback_arg, start_addr, count, (u16 *)&(resp_packet[3]));
|
|
|
400 |
if (res == -2) {*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
401 |
if (res < 0) {*error_code = ERR_SLAVE_DEVICE_FAILURE; return -1;}
|
|
|
402 |
|
|
|
403 |
/* convert all data from host to network byte order. */
|
|
|
404 |
mb_hton_count((u16 *)&(resp_packet[3]), count);
|
|
|
405 |
|
|
|
406 |
return resp_packet[2] + 3; /* packet size is data length + 3 bytes -> slave, function, count */
|
|
|
407 |
}
|
|
|
408 |
|
|
|
409 |
|
|
|
410 |
|
|
|
411 |
|
|
|
412 |
/* Handle function 0x03 */
|
|
|
413 |
int handle_read_output_words (u8 *query_packet, u8 **resp_packet_ptr, u8 *error_code, mb_slave_callback_t *callbacks)
|
|
|
414 |
{return handle_read_words(query_packet, resp_packet_ptr, error_code, callbacks->read_outwords, callbacks->arg);}
|
|
|
415 |
|
|
|
416 |
/* Handle function 0x04 */
|
|
|
417 |
int handle_read_input_words (u8 *query_packet, u8 **resp_packet_ptr, u8 *error_code, mb_slave_callback_t *callbacks)
|
|
|
418 |
{return handle_read_words(query_packet, resp_packet_ptr, error_code, callbacks->read_inwords, callbacks->arg);}
|
|
|
419 |
|
|
|
420 |
|
|
|
421 |
|
|
|
422 |
/* Handle function 0x05 */
|
|
|
423 |
int handle_write_output_bit (u8 *query_packet, u8 **resp_packet_ptr, u8 *error_code, mb_slave_callback_t *callbacks) {
|
|
|
424 |
u16 start_addr;
|
|
|
425 |
int res;
|
|
|
426 |
u8 *resp_packet;
|
|
|
427 |
|
|
|
428 |
/* If no callback, handle as if function is not supported... */
|
|
|
429 |
if (callbacks->write_outbits == NULL)
|
|
|
430 |
{*error_code = ERR_ILLEGAL_FUNCTION; return -1;}
|
|
|
431 |
|
|
|
432 |
resp_packet = *resp_packet_ptr;
|
|
|
433 |
|
|
|
434 |
/* See equivalent comment in handle_read_bits() */
|
|
|
435 |
mb_ntoh_safe(u16_v(query_packet[2]), &start_addr);
|
|
|
436 |
|
|
|
437 |
#ifdef DEBUG
|
|
|
438 |
printf("handle_write_output_bit() called. slave=%d, function=%d, start_addr=%d\n",
|
|
|
439 |
query_packet[0], query_packet[1], start_addr);
|
|
|
440 |
#endif
|
|
|
441 |
|
|
|
442 |
// byte 5 Must be 0x00, byte 4 must be 0x00 or 0xFF !!
|
|
|
443 |
if ( (query_packet[5] != 0) ||
|
|
|
444 |
((query_packet[4] != 0) && (query_packet[4] != 0xFF)))
|
|
|
445 |
{*error_code = ERR_ILLEGAL_DATA_VALUE; return -1;}
|
|
|
446 |
|
|
|
447 |
/* Address will always be valid, no need to check! */
|
|
|
448 |
// if (start_addr > 65535) {*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
449 |
|
|
|
450 |
/* start building response frame... */
|
|
|
451 |
resp_packet[0] = query_packet[0]; /* slave */
|
|
|
452 |
resp_packet[1] = query_packet[1]; /* function */
|
|
|
453 |
resp_packet[2] = query_packet[2]; /* start address - hi byte */
|
|
|
454 |
resp_packet[3] = query_packet[3]; /* start address - lo byte */
|
|
|
455 |
resp_packet[4] = query_packet[4]; /* value: 0x00 or 0xFF */
|
|
|
456 |
resp_packet[5] = query_packet[5]; /* value: must be 0x00 */
|
|
|
457 |
|
|
|
458 |
res = (callbacks->write_outbits)(callbacks->arg, start_addr, 1, &(query_packet[4]));
|
|
|
459 |
if (res == -2) {*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
460 |
if (res < 0) {*error_code = ERR_SLAVE_DEVICE_FAILURE; return -1;}
|
|
|
461 |
|
|
|
462 |
return 6; /* response packet size, including slave id in byte 0 */
|
|
|
463 |
}
|
|
|
464 |
|
|
|
465 |
|
|
|
466 |
|
|
|
467 |
/* Handle function 0x06 */
|
|
|
468 |
int handle_write_output_word (u8 *query_packet, u8 **resp_packet_ptr, u8 *error_code, mb_slave_callback_t *callbacks) {
|
|
|
469 |
u16 start_addr;
|
|
|
470 |
int res;
|
|
|
471 |
u8 *resp_packet;
|
|
|
472 |
|
|
|
473 |
/* If no callback, handle as if function is not supported... */
|
|
|
474 |
if (callbacks->write_outwords == NULL)
|
|
|
475 |
{*error_code = ERR_ILLEGAL_FUNCTION; return -1;}
|
|
|
476 |
|
|
|
477 |
resp_packet = *resp_packet_ptr;
|
|
|
478 |
|
|
|
479 |
/* See equivalent comment in handle_read_bits() */
|
|
|
480 |
mb_ntoh_safe(u16_v(query_packet[2]), &start_addr);
|
|
|
481 |
|
|
|
482 |
#ifdef DEBUG
|
|
|
483 |
printf("handle_write_output_word() called. slave=%d, function=%d, start_addr=%d\n",
|
|
|
484 |
query_packet[0], query_packet[1], start_addr);
|
|
|
485 |
#endif
|
|
|
486 |
|
|
|
487 |
/* Address will always be valid, no need to check! */
|
|
|
488 |
// if (start_addr > 65535) {*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
489 |
|
|
|
490 |
/* start building response frame... */
|
|
|
491 |
resp_packet[0] = query_packet[0]; /* slave */
|
|
|
492 |
resp_packet[1] = query_packet[1]; /* function */
|
|
|
493 |
resp_packet[2] = query_packet[2]; /* start address - hi byte */
|
|
|
494 |
resp_packet[3] = query_packet[3]; /* start address - lo byte */
|
|
|
495 |
resp_packet[4] = query_packet[4]; /* value - hi byte */
|
|
|
496 |
resp_packet[5] = query_packet[5]; /* value - lo byte */
|
|
|
497 |
|
|
|
498 |
/* convert data from network to host byte order */
|
|
|
499 |
mb_ntoh_count((u16 *)&(query_packet[4]), 1);
|
|
|
500 |
|
|
|
501 |
res = (callbacks->write_outwords)(callbacks->arg, start_addr, 1, (u16 *)&(query_packet[4]));
|
|
|
502 |
if (res == -2) {*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
503 |
if (res < 0) {*error_code = ERR_SLAVE_DEVICE_FAILURE; return -1;}
|
|
|
504 |
|
|
|
505 |
return 6; /* packet size is 6 -> slave, function, addr(2), value(2) */
|
|
|
506 |
}
|
|
|
507 |
|
|
|
508 |
|
|
|
509 |
|
|
|
510 |
/* Handle function 0x0F */
|
|
|
511 |
int handle_write_output_bits (u8 *query_packet, u8 **resp_packet_ptr, u8 *error_code, mb_slave_callback_t *callbacks) {
|
|
|
512 |
u16 start_addr, count;
|
|
|
513 |
int res;
|
|
|
514 |
u8 *resp_packet;
|
|
|
515 |
|
|
|
516 |
/* If no callback, handle as if function is not supported... */
|
|
|
517 |
if (callbacks->write_outbits == NULL)
|
|
|
518 |
{*error_code = ERR_ILLEGAL_FUNCTION; return -1;}
|
|
|
519 |
|
|
|
520 |
resp_packet = *resp_packet_ptr;
|
|
|
521 |
|
|
|
522 |
/* See equivalent comment in handle_read_bits() */
|
|
|
523 |
mb_ntoh_safe(u16_v(query_packet[2]), &start_addr);
|
|
|
524 |
mb_ntoh_safe(u16_v(query_packet[4]), &count);
|
|
|
525 |
|
|
|
526 |
#ifdef DEBUG
|
|
|
527 |
printf("handle_write_output_bits() called. slave=%d, function=%d, start_addr=%d, count=%d\n",
|
|
|
528 |
query_packet[0], query_packet[1], start_addr, count);
|
|
|
529 |
#endif
|
|
|
530 |
|
|
|
531 |
if ((count > MAX_WRITE_COILS) || (count < 1) || ((count+7)/8 != query_packet[6]) )
|
|
|
532 |
{*error_code = ERR_ILLEGAL_DATA_VALUE; return -1;}
|
|
|
533 |
|
|
|
534 |
/* See equivalent comment in handle_read_bits() */
|
|
|
535 |
if (start_addr + count > 65536)
|
|
|
536 |
{*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
537 |
|
|
|
538 |
/* start building response frame... */
|
|
|
539 |
resp_packet[0] = query_packet[0]; /* slave */
|
|
|
540 |
resp_packet[1] = query_packet[1]; /* function */
|
|
|
541 |
resp_packet[2] = query_packet[2]; /* start address - hi byte */
|
|
|
542 |
resp_packet[3] = query_packet[3]; /* start address - lo byte */
|
|
|
543 |
resp_packet[4] = query_packet[4]; /* count - hi byte */
|
|
|
544 |
resp_packet[5] = query_packet[5]; /* count - lo byte */
|
|
|
545 |
|
|
|
546 |
res = (callbacks->write_outbits)(callbacks->arg, start_addr, count, &(query_packet[7]));
|
|
|
547 |
if (res == -2) {*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
548 |
if (res < 0) {*error_code = ERR_SLAVE_DEVICE_FAILURE; return -1;}
|
|
|
549 |
|
|
|
550 |
return 6; /* packet size is 6 -> slave, function, addr(2), count(2) */
|
|
|
551 |
}
|
|
|
552 |
|
|
|
553 |
|
|
|
554 |
|
|
|
555 |
|
|
|
556 |
/* Handle function 0x10 */
|
|
|
557 |
int handle_write_output_words(u8 *query_packet, u8 **resp_packet_ptr, u8 *error_code, mb_slave_callback_t *callbacks) {
|
|
|
558 |
u16 start_addr, count;
|
|
|
559 |
int res;
|
|
|
560 |
u8 *resp_packet;
|
|
|
561 |
|
|
|
562 |
/* If no callback, handle as if function is not supported... */
|
|
|
563 |
if (callbacks->write_outwords == NULL)
|
|
|
564 |
{*error_code = ERR_ILLEGAL_FUNCTION; return -1;}
|
|
|
565 |
|
|
|
566 |
resp_packet = *resp_packet_ptr;
|
|
|
567 |
|
|
|
568 |
/* See equivalent comment in handle_read_bits() */
|
|
|
569 |
mb_ntoh_safe(u16_v(query_packet[2]), &start_addr);
|
|
|
570 |
mb_ntoh_safe(u16_v(query_packet[4]), &count);
|
|
|
571 |
|
|
|
572 |
if ((count > MAX_WRITE_REGS) || (count < 1) || (count*2 != query_packet[6]) )
|
|
|
573 |
{*error_code = ERR_ILLEGAL_DATA_VALUE; return -1;}
|
|
|
574 |
|
|
|
575 |
/* See equivalent comment in handle_read_bits() */
|
|
|
576 |
if (start_addr + count > 65536)
|
|
|
577 |
{*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
578 |
|
|
|
579 |
/* start building response frame... */
|
|
|
580 |
resp_packet[0] = query_packet[0]; /* slave */
|
|
|
581 |
resp_packet[1] = query_packet[1]; /* function */
|
|
|
582 |
resp_packet[2] = query_packet[2]; /* start address - hi byte */
|
|
|
583 |
resp_packet[3] = query_packet[3]; /* start address - lo byte */
|
|
|
584 |
resp_packet[4] = query_packet[4]; /* count - hi byte */
|
|
|
585 |
resp_packet[5] = query_packet[5]; /* count - lo byte */
|
|
|
586 |
|
|
|
587 |
/* convert all data from network to host byte order */
|
|
|
588 |
mb_ntoh_count((u16 *)&(query_packet[7]), count);
|
|
|
589 |
|
|
|
590 |
res = (callbacks->write_outwords)(callbacks->arg, start_addr, count, (u16 *)&(query_packet[7]));
|
|
|
591 |
if (res == -2) {*error_code = ERR_ILLEGAL_DATA_ADDRESS; return -1;}
|
|
|
592 |
if (res < 0) {*error_code = ERR_SLAVE_DEVICE_FAILURE; return -1;}
|
|
|
593 |
|
|
|
594 |
return 6; /* packet size is 6 -> slave, function, addr(2), count(2) */
|
|
|
595 |
}
|
|
|
596 |
|
|
|
597 |
|
|
|
598 |
|
|
|
599 |
|
|
|
600 |
|
|
|
601 |
|
|
|
602 |
|
|
|
603 |
|
|
|
604 |
/***********************************************/
|
|
|
605 |
/***********************************************/
|
|
|
606 |
/** **/
|
|
|
607 |
/** initialise / shutdown the library **/
|
|
|
608 |
/** **/
|
|
|
609 |
/***********************************************/
|
|
|
610 |
/***********************************************/
|
|
|
611 |
|
|
|
612 |
int mb_slave_init__(int extra_bytes) {
|
|
|
613 |
buff_extra_bytes_ = extra_bytes;
|
|
|
614 |
return 0;
|
|
|
615 |
}
|
|
|
616 |
|
|
|
617 |
|
|
|
618 |
int mb_slave_done__(void)
|
|
|
619 |
{return 0;}
|
|
|
620 |
|
|
|
621 |
|
|
|
622 |
#if 0
|
|
|
623 |
int mb_slave_init(int nd_count) {
|
|
|
624 |
int extra_bytes;
|
|
|
625 |
|
|
|
626 |
#ifdef DEBUG
|
|
|
627 |
fprintf( stderr, "mb_slave_init()\n");
|
|
|
628 |
fprintf( stderr, "creating %d nodes\n", nd_count);
|
|
|
629 |
#endif
|
|
|
630 |
|
|
|
631 |
/* initialise layer 1 library */
|
|
|
632 |
if (modbus_init(nd_count, DEF_OPTIMIZATION, &extra_bytes) < 0)
|
|
|
633 |
goto error_exit_0;
|
|
|
634 |
|
|
|
635 |
/* initialise this library */
|
|
|
636 |
if (mb_slave_init__(extra_bytes) < 0)
|
|
|
637 |
goto error_exit_1;
|
|
|
638 |
|
|
|
639 |
return 0;
|
|
|
640 |
|
|
|
641 |
error_exit_1:
|
|
|
642 |
modbus_done();
|
|
|
643 |
error_exit_0:
|
|
|
644 |
return -1;
|
|
|
645 |
}
|
|
|
646 |
|
|
|
647 |
|
|
|
648 |
int mb_slave_done(void) {
|
|
|
649 |
mb_slave_done__(void)
|
|
|
650 |
return modbus_done();
|
|
|
651 |
}
|
|
|
652 |
#endif
|
|
|
653 |
|
|
|
654 |
|
|
|
655 |
|
|
|
656 |
/***********************************************/
|
|
|
657 |
/***********************************************/
|
|
|
658 |
/** **/
|
|
|
659 |
/** open/close slave connection **/
|
|
|
660 |
/** **/
|
|
|
661 |
/***********************************************/
|
|
|
662 |
/***********************************************/
|
|
|
663 |
|
|
|
664 |
/* Create a new slave/server */
|
|
|
665 |
/* NOTE: We use the lower 2 bits of the returned node id to identify which
|
|
|
666 |
* layer1 implementation to use.
|
|
|
667 |
* 0 -> TCP
|
|
|
668 |
* 1 -> RTU
|
|
|
669 |
* 2 -> ASCII
|
|
|
670 |
* 4 -> unused
|
|
|
671 |
* The node id used by the layer1 is shifted left 2 bits
|
|
|
672 |
* before returning the node id to the caller!
|
|
|
673 |
*/
|
|
|
674 |
int mb_slave_new(node_addr_t node_addr) {
|
|
|
675 |
int res = -1;
|
|
|
676 |
#ifdef DEBUG
|
|
|
677 |
fprintf( stderr, "mb_slave_connect()\n");
|
|
|
678 |
#endif
|
|
|
679 |
|
|
|
680 |
/* call layer 1 library */
|
|
|
681 |
switch(node_addr.naf) {
|
|
|
682 |
case naf_tcp:
|
|
|
683 |
res = modbus_tcp_listen(node_addr);
|
|
|
684 |
if (res >= 0) res = res*4 + 0 /* offset into fptr_ with TCP functions */;
|
|
|
685 |
return res;
|
|
|
686 |
case naf_rtu:
|
|
|
687 |
res = modbus_rtu_listen(node_addr);
|
|
|
688 |
if (res >= 0) res = res*4 + 1 /* offset into fptr_ with RTU functions */;
|
|
|
689 |
return res;
|
|
|
690 |
case naf_ascii:
|
|
|
691 |
res = modbus_ascii_listen(node_addr);
|
|
|
692 |
if (res >= 0) res = res*4 + 2 /* offset into fptr_ with ASCII functions */;
|
|
|
693 |
return res;
|
|
|
694 |
}
|
|
|
695 |
|
|
|
696 |
return -1;
|
|
|
697 |
}
|
|
|
698 |
|
|
|
699 |
|
|
|
700 |
|
|
|
701 |
|
|
|
702 |
int mb_slave_close(int fd) {
|
|
|
703 |
#ifdef DEBUG
|
|
|
704 |
fprintf( stderr, "mb_slave_close(): nd = %d\n", fd);
|
|
|
705 |
#endif
|
|
|
706 |
get_ttyfd(); /* declare the ttyfd variable!! */
|
|
|
707 |
/* call layer 1 library */
|
|
|
708 |
/* will call one of modbus_tcp_close(), modbus_rtu_close(), modbus_ascii_close() */
|
|
|
709 |
return modbus_close(ttyfd);
|
|
|
710 |
}
|
|
|
711 |
|
|
|
712 |
|
|
|
713 |
|
|
|
714 |
|
|
|
715 |
|
|
|
716 |
/***********************************************/
|
|
|
717 |
/***********************************************/
|
|
|
718 |
/** **/
|
|
|
719 |
/** Run the slave **/
|
|
|
720 |
/** **/
|
|
|
721 |
/***********************************************/
|
|
|
722 |
/***********************************************/
|
|
|
723 |
|
|
|
724 |
/* Execute infinite loop waiting and replying to requests coming from clients/master
|
|
|
725 |
* This function enters an infinite loop wating for new connection requests,
|
|
|
726 |
* and for modbus requests over previoulsy open connections...
|
|
|
727 |
*
|
|
|
728 |
* The frames are read from:
|
|
|
729 |
* - the node descriptor nd, if nd >= 0
|
|
|
730 |
* When using TCP, if the referenced node nd was created to listen for new connections
|
|
|
731 |
* [mb_slave_listen()], then this function will also reply to Modbus data requests arriving
|
|
|
732 |
* on other nodes that were created as a consequence of accepting connections requests to
|
|
|
733 |
* the referenced node nd.
|
|
|
734 |
* All other nodes are ignored!
|
|
|
735 |
*
|
|
|
736 |
* - any valid and initialised TCP node descriptor, if nd = -1
|
|
|
737 |
* In this case, will also accept connection requests arriving from a previously
|
|
|
738 |
* created node to listen for new connection requests [mb_slave_listen() ].
|
|
|
739 |
* NOTE: (only avaliable if using TCP)
|
|
|
740 |
*
|
|
|
741 |
* slaveid identifies the address (RTU and ASCII) or slaveid (TCP) that we implement.
|
|
|
742 |
* Any requests that we receive sent with a slaveid different
|
|
|
743 |
* than the one specified, and also different to 0, will be silently ignored!
|
|
|
744 |
* Whatever the slaveid specified, we always reply to requests
|
|
|
745 |
* to slaveid 0 (the modbus broadcast address).
|
|
|
746 |
* Calling this function with a slaveid of 0 means to ignore this
|
|
|
747 |
* parameter and to reply to all requests (whatever the slaveid
|
|
|
748 |
* used in the request). This should mostly be used by TCP servers...
|
|
|
749 |
*/
|
|
|
750 |
|
|
|
751 |
int mb_slave_run(int fd, mb_slave_callback_t callback_functions, u8 slaveid) {
|
|
|
752 |
int byte_count;
|
|
|
753 |
u16 transaction_id;
|
|
|
754 |
int nd;
|
|
|
755 |
u8 function, error_code = 0;
|
|
|
756 |
int resp_length;
|
|
|
757 |
u8 *query_packet = NULL;
|
|
|
758 |
u8 *resp_packet;
|
|
|
759 |
u8 resp_buffer_[RESP_BUFFER_SIZE];
|
|
|
760 |
u8 slave;
|
|
|
761 |
|
|
|
762 |
get_ttyfd(); /* declare the ttyfd variable!! */
|
|
|
763 |
|
|
|
764 |
#ifdef DEBUG
|
|
|
765 |
fprintf(stderr,"[%lu] mb_slave_run(): Called... fd=%d, ttyfd=%d\n", pthread_self(), fd, ttyfd);
|
|
|
766 |
#endif
|
|
|
767 |
|
|
|
768 |
while(1) {
|
|
|
769 |
nd = ttyfd;
|
|
|
770 |
/* will call one of modbus_tcp_read(), modbus_rtu_read(), modbus_ascii_read() */
|
|
|
771 |
do {
|
|
|
772 |
byte_count = modbus_read(&nd, /* node descriptor */
|
|
|
773 |
&query_packet, /* u8 **recv_data_ptr, */
|
|
|
774 |
&transaction_id, /* u16 *transaction_id, */
|
|
|
775 |
NULL, /* const u8 *send_data, */
|
|
|
776 |
0, /* int send_length, */
|
|
|
777 |
NULL /* wait indefenitely */ /* const struct timespec *recv_timeout); */
|
|
|
778 |
);
|
|
|
779 |
} while (byte_count <= 2);
|
|
|
780 |
|
|
|
781 |
#ifdef DEBUG
|
|
|
782 |
{/* display the hex code of each character received */
|
|
|
783 |
int i;
|
|
|
784 |
printf("[%lu] mb_slave_run() received %d bytes (ptr=%p): \n", pthread_self(), byte_count, query_packet);
|
|
|
785 |
for (i=0; i < byte_count; i++)
|
|
|
786 |
printf("<0x%2X>", query_packet[i]);
|
|
|
787 |
printf("\n");
|
|
|
788 |
}
|
|
|
789 |
#endif
|
|
|
790 |
|
|
|
791 |
slave = query_packet[0];
|
|
|
792 |
function = query_packet[1];
|
|
|
793 |
|
|
|
794 |
/* We only reply if:
|
|
|
795 |
* - request was sent to broadcast address (slave == 0)
|
|
|
796 |
* OR - we were asked to reply to every request (slaveid == 0)
|
|
|
797 |
* OR - request matches the slaveid we were asked to accept (slave == slaveid)
|
|
|
798 |
*
|
|
|
799 |
* Otherwise, silently ignore the received request!!!
|
|
|
800 |
*/
|
|
|
801 |
if ((slaveid == 0) || (slave == 0) || (slave == slaveid)) {
|
|
|
802 |
resp_packet = resp_buffer_;
|
|
|
803 |
|
|
|
804 |
switch(function) {
|
|
|
805 |
case 0x01: resp_length = handle_read_output_bits (query_packet, &resp_packet, &error_code, &callback_functions); break;
|
|
|
806 |
case 0x02: resp_length = handle_read_input_bits (query_packet, &resp_packet, &error_code, &callback_functions); break;
|
|
|
807 |
case 0x03: resp_length = handle_read_output_words (query_packet, &resp_packet, &error_code, &callback_functions); break;
|
|
|
808 |
case 0x04: resp_length = handle_read_input_words (query_packet, &resp_packet, &error_code, &callback_functions); break;
|
|
|
809 |
case 0x05: resp_length = handle_write_output_bit (query_packet, &resp_packet, &error_code, &callback_functions); break;
|
|
|
810 |
case 0x06: resp_length = handle_write_output_word (query_packet, &resp_packet, &error_code, &callback_functions); break;
|
|
|
811 |
case 0x0F: resp_length = handle_write_output_bits (query_packet, &resp_packet, &error_code, &callback_functions); break;
|
|
|
812 |
case 0x10: resp_length = handle_write_output_words(query_packet, &resp_packet, &error_code, &callback_functions); break;
|
|
|
813 |
/* return exception code 0x01 -> function not supported! */
|
|
|
814 |
default : resp_length = -1; error_code = 0x01; break;
|
|
|
815 |
}; /* switch(function) */
|
|
|
816 |
|
|
|
817 |
if (resp_length < 0) {
|
|
|
818 |
/* return error... */
|
|
|
819 |
/* build exception response frame... */
|
|
|
820 |
resp_packet = resp_buffer_;
|
|
|
821 |
resp_packet[0] = query_packet[0]; /* slave */
|
|
|
822 |
resp_packet[1] = query_packet[1] | 0x80; /* function code with error bit activated! */
|
|
|
823 |
resp_packet[2] = error_code;
|
|
|
824 |
resp_length = 3;
|
|
|
825 |
}
|
|
|
826 |
modbus_write(nd, resp_packet, resp_length, transaction_id, NULL /*transmit_timeout*/);
|
|
|
827 |
}; /* if not ignore request */
|
|
|
828 |
}; /* while(1) */
|
|
|
829 |
|
|
|
830 |
/* humour the compiler... */
|
|
|
831 |
return 0;
|
|
|
832 |
}
|
|
|
833 |
|
|
|
834 |
|
|
|
835 |
|
|
|
836 |
|
|
|
837 |
|
|
|
838 |
|
|
|
839 |
|
|
|
840 |
|
|
|
841 |
|
|
|
842 |
|
|
|
843 |
|
|
|
844 |
|
|
|
845 |
|