0
|
1 |
/*
|
|
2 |
* Copyright (c) 2001-2003,2016 Mario de Sousa (msousa@fe.up.pt)
|
|
3 |
*
|
|
4 |
* This file is part of the Modbus library for Beremiz and matiec.
|
|
5 |
*
|
|
6 |
* This Modbus library is free software: you can redistribute it and/or modify
|
|
7 |
* it under the terms of the GNU Lesser General Public License as published by
|
|
8 |
* the Free Software Foundation, either version 3 of the License, or
|
|
9 |
* (at your option) any later version.
|
|
10 |
*
|
|
11 |
* This program is distributed in the hope that it will be useful, but
|
|
12 |
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
13 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser
|
|
14 |
* General Public License for more details.
|
|
15 |
*
|
|
16 |
* You should have received a copy of the GNU Lesser General Public License
|
|
17 |
* along with this Modbus library. If not, see <http://www.gnu.org/licenses/>.
|
|
18 |
*
|
|
19 |
* This code is made available on the understanding that it will not be
|
|
20 |
* used in safety-critical situations without a full and competent review.
|
|
21 |
*/
|
|
22 |
|
|
23 |
|
|
24 |
/* mb_master.c */
|
|
25 |
|
|
26 |
|
|
27 |
#include <fcntl.h> /* File control definitions */
|
|
28 |
#include <stdio.h> /* Standard input/output */
|
|
29 |
#include <string.h>
|
|
30 |
#include <stdlib.h>
|
|
31 |
#include <termio.h> /* POSIX terminal control definitions */
|
|
32 |
#include <sys/time.h> /* Time structures for select() */
|
|
33 |
#include <unistd.h> /* POSIX Symbolic Constants */
|
|
34 |
#include <errno.h> /* Error definitions */
|
|
35 |
|
|
36 |
#include <pthread.h> /* pthread_mutex_[un]lock() */
|
|
37 |
|
|
38 |
#include <netinet/in.h> /* required for htons() and ntohs() */
|
|
39 |
#include "mb_layer1.h"
|
|
40 |
#include "mb_master.h"
|
|
41 |
#include "mb_master_private.h"
|
|
42 |
|
|
43 |
/* #define DEBUG */ /* uncomment to see the data sent and received */
|
|
44 |
|
|
45 |
#define modbus_write fptr_[layer1_fin].modbus_write
|
|
46 |
#define modbus_read fptr_[layer1_fin].modbus_read
|
|
47 |
#define modbus_init fptr_[layer1_fin].modbus_init
|
|
48 |
#define modbus_done fptr_[layer1_fin].modbus_done
|
|
49 |
#define modbus_connect fptr_[layer1_fin].modbus_connect
|
|
50 |
#define modbus_listen fptr_[layer1_fin].modbus_listen
|
|
51 |
#define modbus_close fptr_[layer1_fin].modbus_close
|
|
52 |
#define modbus_silence_init fptr_[layer1_fin].modbus_silence_init
|
|
53 |
#define modbus_get_min_timeout fptr_[layer1_fin].modbus_get_min_timeout
|
|
54 |
|
|
55 |
/* the lower two bits of ttyfd are used to store the index to layer1 function pointers */
|
|
56 |
/* layer1_fin index to fptr_[] is in lowest 2 bits of fd */
|
|
57 |
#define get_ttyfd() int layer1_fin = fd & 3; int ttyfd = fd / 4;
|
|
58 |
|
|
59 |
|
|
60 |
|
|
61 |
/******************************************/
|
|
62 |
/******************************************/
|
|
63 |
/** **/
|
|
64 |
/** Global Variables... **/
|
|
65 |
/** **/
|
|
66 |
/******************************************/
|
|
67 |
/******************************************/
|
|
68 |
/* The layer 1 (RTU, ASCII, TCP) implementation will be adding some headers and CRC (at the end)
|
|
69 |
* of the packet we build here (actually currently it is only at the end). Since we want to
|
|
70 |
* re-use the same buffer so as not to continuosly copy the same info from buffer to buffer,
|
|
71 |
* we need tp allocate more bytes than the ones we need for this layer. Therefore, the
|
|
72 |
* extra_bytes parameter.
|
|
73 |
*
|
|
74 |
* Note that we add one more extra byte. This is because some packets will not be
|
|
75 |
* starting off at byte 0, but rather at byte 1 of the buffer. This is in order to guarantee
|
|
76 |
* that the data that is sent on the buffer is aligned on even bytes (the 16 bit words!).
|
|
77 |
* This will allow us to reference this memory as an u16 *, without producing 'bus error'
|
|
78 |
* messages in some embedded devices that do not allow acessing u16 on odd numbered addresses.
|
|
79 |
*/
|
|
80 |
static int buff_extra_bytes_;
|
|
81 |
#define QUERY_BUFFER_SIZE (MAX_L2_FRAME_LENGTH + buff_extra_bytes_ + 1)
|
|
82 |
|
|
83 |
|
|
84 |
/******************************************/
|
|
85 |
/******************************************/
|
|
86 |
/** **/
|
|
87 |
/** Local Utility functions... **/
|
|
88 |
/** **/
|
|
89 |
/******************************************/
|
|
90 |
/******************************************/
|
|
91 |
|
|
92 |
|
|
93 |
/*
|
|
94 |
* Function to determine next transaction id.
|
|
95 |
*
|
|
96 |
* We use a library wide transaction id, which means that we
|
|
97 |
* use a new transaction id no matter what slave to which we will
|
|
98 |
* be sending the request...
|
|
99 |
*/
|
|
100 |
static inline u16 next_transaction_id(void) {
|
|
101 |
static u16 next_id = 0;
|
|
102 |
return next_id++;
|
|
103 |
}
|
|
104 |
|
|
105 |
|
|
106 |
/*
|
|
107 |
* Functions to convert u16 variables
|
|
108 |
* between network and host byte order
|
|
109 |
*
|
|
110 |
* NOTE: Modbus uses MSByte first, just like
|
|
111 |
* tcp/ip, so we use the htons() and
|
|
112 |
* ntoh() functions to guarantee
|
|
113 |
* code portability.
|
|
114 |
*/
|
|
115 |
static inline u16 mb_hton(u16 h_value) {return htons(h_value);}
|
|
116 |
static inline u16 mb_ntoh(u16 m_value) {return ntohs(m_value);}
|
|
117 |
static inline u8 msb (u16 value) {return (value >> 8) & 0xFF;}
|
|
118 |
static inline u8 lsb (u16 value) {return value & 0xFF;}
|
|
119 |
|
|
120 |
|
|
121 |
|
|
122 |
|
|
123 |
/*************************************************/
|
|
124 |
/*************************************************/
|
|
125 |
/** **/
|
|
126 |
/** Common functions for Modbus Protocol. **/
|
|
127 |
/** **/
|
|
128 |
/*************************************************/
|
|
129 |
/*************************************************/
|
|
130 |
|
|
131 |
/* build the common elements of a query frame */
|
|
132 |
static inline int build_packet(u8 slave,
|
|
133 |
u8 function,
|
|
134 |
u16 start_addr,
|
|
135 |
u16 count,
|
|
136 |
u8 *packet) {
|
|
137 |
union {
|
|
138 |
u16 u16;
|
|
139 |
u8 u8[2];
|
|
140 |
} tmp;
|
|
141 |
|
|
142 |
packet[0] = slave,
|
|
143 |
packet[1] = function;
|
|
144 |
/* NOTE:
|
|
145 |
* Modbus uses high level addressing starting off from 1, but
|
|
146 |
* this is sent as 0 on the wire!
|
|
147 |
* We could expect the user to specify high level addressing
|
|
148 |
* starting at 1, and do the conversion to start off at 0 here.
|
|
149 |
* However, to do this we would then need to use an u32 data type
|
|
150 |
* to correctly hold the address supplied by the user (which could
|
|
151 |
* correctly be 65536, which does not fit in an u16), which would
|
|
152 |
* in turn require us to check whether the address supplied by the user
|
|
153 |
* is correct (i.e. <= 65536).
|
|
154 |
* I decided to go with the other option of using an u16, and
|
|
155 |
* requiring the user to use addressing starting off at 0!
|
|
156 |
*/
|
|
157 |
/* NOTE: we do not use up casting - i.e. the following
|
|
158 |
* *((u16 *)(packet+2)) = mb_hton(start_addr);
|
|
159 |
* because packet+2 is NOT aligned with an even address, and would
|
|
160 |
* therefore result in 'bus error' when using compilers that do not
|
|
161 |
* automatically do the required decomposing of this supposedly
|
|
162 |
* single bus access into two distinct bus accesses.
|
|
163 |
* (Note that some compilers do do this decomposing automatically
|
|
164 |
* in which case the following is not necessary).
|
|
165 |
* At the moment, I (Mario de Sousa) know of at least one cross-compiler
|
|
166 |
* that does not do the decomposing automatically, i.e. the
|
|
167 |
* AVR32 cross-compiler.
|
|
168 |
*/
|
|
169 |
tmp.u16 = mb_hton(start_addr);
|
|
170 |
packet[2] = tmp.u8[0];
|
|
171 |
packet[3] = tmp.u8[1];
|
|
172 |
tmp.u16 = mb_hton(count);
|
|
173 |
packet[4] = tmp.u8[0];
|
|
174 |
packet[5] = tmp.u8[1];
|
|
175 |
|
|
176 |
return 6;
|
|
177 |
}
|
|
178 |
|
|
179 |
|
|
180 |
|
|
181 |
/* Execute a Query/Response transaction between client and server */
|
|
182 |
/* returns: <0 -> ERROR: error codes
|
|
183 |
* >2 -> SUCCESS: frame length
|
|
184 |
* 0..2 -> will never be returned!
|
|
185 |
*/
|
|
186 |
static int mb_transaction(u8 *packet,
|
|
187 |
int query_length,
|
|
188 |
u8 **data,
|
|
189 |
int fd,
|
|
190 |
int send_retries,
|
|
191 |
u8 *error_code,
|
|
192 |
const struct timespec *response_timeout) {
|
|
193 |
int error = TIMEOUT;
|
|
194 |
int response_length = INTERNAL_ERROR;
|
|
195 |
u16 send_transaction_id, recv_transaction_id;
|
|
196 |
get_ttyfd(); /* declare the ttyfd variable, ... */
|
|
197 |
|
|
198 |
/* We must also initialize the recv_transaction_id with the same value,
|
|
199 |
* since some layer 1 protocols do not support transaction id's, so
|
|
200 |
* simply return the recv_transaction_id variable without any changes...
|
|
201 |
*/
|
|
202 |
/* NOTE: we re-use the same transaction id for all send re-tries., since, in truth,
|
|
203 |
* it is still the same transaction. This will also simplify re-synchronising with
|
|
204 |
* some slaves that keep a buffer of outstanding requests, and will reply to all of
|
|
205 |
* them, in FIFO order. In this case, once an error occurs we will be swamping the
|
|
206 |
* slave with requests. By using the same transaction id, we may correctly consider
|
|
207 |
* the reply to the first request sent as the reply to the third request! This means
|
|
208 |
* we stop re-trying the sending of further requests, and no longer swamp the slave...
|
|
209 |
*/
|
|
210 |
send_transaction_id = recv_transaction_id = next_transaction_id();
|
|
211 |
|
|
212 |
for (send_retries++; send_retries > 0; send_retries--) {
|
|
213 |
error = TIMEOUT;
|
|
214 |
|
|
215 |
if (modbus_write(ttyfd, packet, query_length, send_transaction_id, response_timeout) < 0)
|
|
216 |
{error = PORT_FAILURE; continue;}
|
|
217 |
|
|
218 |
/* if we receive a correct response but with a wrong transaction id or wrong modbus function, we try to
|
|
219 |
* receive another frame instead of returning an error or re-sending the request! This first frame could
|
|
220 |
* have been a response to a previous request of ours that timed out waiting for a response, and the
|
|
221 |
* response we are waiting for could be coming 'any minute now'.
|
|
222 |
*/
|
|
223 |
do {
|
|
224 |
response_length = modbus_read(&ttyfd, data, &recv_transaction_id,
|
|
225 |
packet, query_length, response_timeout);
|
|
226 |
|
|
227 |
/* TIMEOUT condition */
|
|
228 |
/* However, if we had previously received an invalid frame, or some other error,
|
|
229 |
* we return that error instead!
|
|
230 |
* Note that the 'error' variable was initialised with the TIMEOUT error
|
|
231 |
* condition, so if no previous error ocurred, we will be returning the
|
|
232 |
* TIMEOUT error condition here!
|
|
233 |
*/
|
|
234 |
if(response_length == -2) return error;
|
|
235 |
/* NOTE we want to break out of this while loop without even running the while()
|
|
236 |
* condition, as that condition is only valid if response_length > 3 !!
|
|
237 |
*/
|
|
238 |
if(response_length < 0) {error = PORT_FAILURE; break;}
|
|
239 |
/* This should never occur! Modbus_read() should only return valid frames! */
|
|
240 |
if(response_length < 3) return INTERNAL_ERROR;
|
|
241 |
|
|
242 |
} while (/* we have the wrong transaction id */
|
|
243 |
(send_transaction_id != recv_transaction_id)
|
|
244 |
/* not a response frame to _our_ query */
|
|
245 |
||
|
|
246 |
(((*data)[1] & ~0x80) != packet[1])
|
|
247 |
/* NOTE: no need to check whether (*data)[0] = slave! */
|
|
248 |
/* This has already been done by the modbus_read() function! */
|
|
249 |
);
|
|
250 |
|
|
251 |
if(response_length < 0) {error = PORT_FAILURE; continue;}
|
|
252 |
|
|
253 |
/* Now check whether we received a Modbus Exception frame */
|
|
254 |
if (((*data)[1] & 0x80) != 0) { /* we have an exception frame! */
|
|
255 |
/* NOTE: we have already checked above that data[2] exists! */
|
|
256 |
if (error_code != NULL) *error_code = (*data)[2];
|
|
257 |
return MODBUS_ERROR;
|
|
258 |
}
|
|
259 |
/* success! Let's get out of the send retry loop... */
|
|
260 |
return response_length;
|
|
261 |
}
|
|
262 |
/* reached the end of the retries... */
|
|
263 |
return error;
|
|
264 |
}
|
|
265 |
|
|
266 |
|
|
267 |
/**************************************/
|
|
268 |
/**************************************/
|
|
269 |
/** **/
|
|
270 |
/** Modbus Protocol Functions. **/
|
|
271 |
/** **/
|
|
272 |
/**************************************/
|
|
273 |
/**************************************/
|
|
274 |
|
|
275 |
|
|
276 |
|
|
277 |
/* Execute a transaction for functions that READ BITS.
|
|
278 |
* Bits are stored on an int array, one bit per int.
|
|
279 |
* Called by: read_input_bits()
|
|
280 |
* read_output_bits()
|
|
281 |
*/
|
|
282 |
static int read_bits(u8 function,
|
|
283 |
u8 slave,
|
|
284 |
u16 start_addr,
|
|
285 |
u16 count,
|
|
286 |
u16 *dest,
|
|
287 |
int dest_size,
|
|
288 |
int ttyfd,
|
|
289 |
int send_retries,
|
|
290 |
u8 *error_code,
|
|
291 |
const struct timespec *response_timeout,
|
|
292 |
pthread_mutex_t *data_access_mutex) {
|
|
293 |
|
|
294 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
295 |
u8 *data;
|
|
296 |
int response_length, query_length;
|
|
297 |
int temp, i, bit, dest_pos = 0;
|
|
298 |
int coils_processed = 0;
|
|
299 |
|
|
300 |
query_length = build_packet(slave, function, start_addr, count, packet);
|
|
301 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
302 |
|
|
303 |
response_length = mb_transaction(packet, query_length, &data, ttyfd,
|
|
304 |
send_retries, error_code, response_timeout);
|
|
305 |
|
|
306 |
if (response_length < 0) return response_length;
|
|
307 |
/* NOTE: Integer division. (count+7)/8 is equivalent to ceil(count/8) */
|
|
308 |
if (response_length != 3 + (count+7)/8) return INVALID_FRAME;
|
|
309 |
if (data[2] != (count+7)/8) return INVALID_FRAME;
|
|
310 |
|
|
311 |
if (NULL != data_access_mutex) pthread_mutex_lock(data_access_mutex);
|
|
312 |
for( i = 0; (i < data[2]) && (i < dest_size); i++ ) {
|
|
313 |
temp = data[3 + i];
|
|
314 |
for( bit = 0x01; (bit & 0xff) && (coils_processed < count); ) {
|
|
315 |
dest[dest_pos] = (temp & bit)?1:0;
|
|
316 |
coils_processed++;
|
|
317 |
dest_pos++;
|
|
318 |
bit = bit << 1;
|
|
319 |
}
|
|
320 |
}
|
|
321 |
if (NULL != data_access_mutex) pthread_mutex_unlock(data_access_mutex);
|
|
322 |
|
|
323 |
return response_length;
|
|
324 |
}
|
|
325 |
|
|
326 |
|
|
327 |
|
|
328 |
/* Execute a transaction for functions that READ BITS.
|
|
329 |
* Bits are stored on an u32 array, 32 bits per u32.
|
|
330 |
* Unused bits in last u32 are set to 0.
|
|
331 |
* Called by: read_input_bits_u32()
|
|
332 |
* read_output_bits_u32()
|
|
333 |
*/
|
|
334 |
static int read_bits_u32(u8 function,
|
|
335 |
u8 slave,
|
|
336 |
u16 start_addr,
|
|
337 |
u16 count, /* number of bits !! */
|
|
338 |
u32 *dest,
|
|
339 |
int ttyfd,
|
|
340 |
int send_retries,
|
|
341 |
u8 *error_code,
|
|
342 |
const struct timespec *response_timeout) {
|
|
343 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
344 |
u8 *data;
|
|
345 |
int response_length, query_length;
|
|
346 |
int byte_count, i, dest_pos = 0;
|
|
347 |
|
|
348 |
query_length = build_packet(slave, function, start_addr, count, packet);
|
|
349 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
350 |
|
|
351 |
response_length = mb_transaction(packet, query_length, &data, ttyfd,
|
|
352 |
send_retries, error_code, response_timeout);
|
|
353 |
|
|
354 |
if (response_length < 0) return response_length;
|
|
355 |
/* NOTE: Integer division. (count+7)/8 is equivalent to ceil(count/8) */
|
|
356 |
if (response_length != 3 + (count+7)/8) return INVALID_FRAME;
|
|
357 |
if (data[2] != (count+7)/8) return INVALID_FRAME;
|
|
358 |
|
|
359 |
byte_count = data[2];
|
|
360 |
data += 3;
|
|
361 |
/* handle groups of 4 bytes... */
|
|
362 |
for(i = 0, dest_pos = 0; i + 3 < byte_count; i += 4, dest_pos++)
|
|
363 |
dest[dest_pos] = data[i] + data[i+1]*0x100 + data[i+2]*0x10000 + data[i+3]*0x1000000;
|
|
364 |
/* handle any remaining bytes... begining with the last! */
|
|
365 |
if (i < byte_count) dest[dest_pos] = 0;
|
|
366 |
for(byte_count--; i <= byte_count; byte_count--)
|
|
367 |
dest[dest_pos] = dest[dest_pos]*0x100 + data[byte_count];
|
|
368 |
|
|
369 |
return response_length;
|
|
370 |
}
|
|
371 |
|
|
372 |
|
|
373 |
|
|
374 |
/* FUNCTION 0x01 - Read Coils
|
|
375 |
* Bits are stored on an int array, one bit per int.
|
|
376 |
*/
|
|
377 |
inline int read_output_bits(u8 slave,
|
|
378 |
u16 start_addr,
|
|
379 |
u16 count,
|
|
380 |
u16 *dest,
|
|
381 |
int dest_size,
|
|
382 |
int ttyfd,
|
|
383 |
int send_retries,
|
|
384 |
u8 *error_code,
|
|
385 |
const struct timespec *response_timeout,
|
|
386 |
pthread_mutex_t *data_access_mutex) {
|
|
387 |
if( count > MAX_READ_BITS ) {
|
|
388 |
count = MAX_READ_BITS;
|
|
389 |
#ifdef DEBUG
|
|
390 |
fprintf( stderr, "Too many coils requested.\n" );
|
|
391 |
#endif
|
|
392 |
}
|
|
393 |
|
|
394 |
return read_bits(0x01 /* function */,
|
|
395 |
slave, start_addr, count, dest, dest_size, ttyfd,
|
|
396 |
send_retries, error_code, response_timeout, data_access_mutex);
|
|
397 |
}
|
|
398 |
|
|
399 |
|
|
400 |
|
|
401 |
/* FUNCTION 0x01 - Read Coils
|
|
402 |
* Bits are stored on an u32 array, 32 bits per u32.
|
|
403 |
* Unused bits in last u32 are set to 0.
|
|
404 |
*/
|
|
405 |
inline int read_output_bits_u32(u8 slave,
|
|
406 |
u16 start_addr,
|
|
407 |
u16 count,
|
|
408 |
u32 *dest,
|
|
409 |
int ttyfd,
|
|
410 |
int send_retries,
|
|
411 |
u8 *error_code,
|
|
412 |
const struct timespec *response_timeout) {
|
|
413 |
if( count > MAX_READ_BITS ) {
|
|
414 |
count = MAX_READ_BITS;
|
|
415 |
#ifdef DEBUG
|
|
416 |
fprintf( stderr, "Too many coils requested.\n" );
|
|
417 |
#endif
|
|
418 |
}
|
|
419 |
|
|
420 |
return read_bits_u32(0x01 /* function */,
|
|
421 |
slave, start_addr, count, dest, ttyfd,
|
|
422 |
send_retries, error_code, response_timeout);
|
|
423 |
}
|
|
424 |
|
|
425 |
|
|
426 |
/* FUNCTION 0x02 - Read Discrete Inputs
|
|
427 |
* Bits are stored on an int array, one bit per int.
|
|
428 |
*/
|
|
429 |
inline int read_input_bits(u8 slave,
|
|
430 |
u16 start_addr,
|
|
431 |
u16 count,
|
|
432 |
u16 *dest,
|
|
433 |
int dest_size,
|
|
434 |
int ttyfd,
|
|
435 |
int send_retries,
|
|
436 |
u8 *error_code,
|
|
437 |
const struct timespec *response_timeout,
|
|
438 |
pthread_mutex_t *data_access_mutex) {
|
|
439 |
if( count > MAX_READ_BITS ) {
|
|
440 |
count = MAX_READ_BITS;
|
|
441 |
#ifdef DEBUG
|
|
442 |
fprintf( stderr, "Too many coils requested.\n" );
|
|
443 |
#endif
|
|
444 |
}
|
|
445 |
|
|
446 |
return read_bits(0x02 /* function */,
|
|
447 |
slave, start_addr, count, dest, dest_size, ttyfd,
|
|
448 |
send_retries, error_code, response_timeout, data_access_mutex);
|
|
449 |
}
|
|
450 |
|
|
451 |
|
|
452 |
|
|
453 |
/* FUNCTION 0x02 - Read Discrete Inputs
|
|
454 |
* Bits are stored on an u32 array, 32 bits per u32.
|
|
455 |
* Unused bits in last u32 are set to 0.
|
|
456 |
*/
|
|
457 |
inline int read_input_bits_u32(u8 slave,
|
|
458 |
u16 start_addr,
|
|
459 |
u16 count,
|
|
460 |
u32 *dest,
|
|
461 |
int ttyfd,
|
|
462 |
int send_retries,
|
|
463 |
u8 *error_code,
|
|
464 |
const struct timespec *response_timeout) {
|
|
465 |
if( count > MAX_READ_BITS ) {
|
|
466 |
count = MAX_READ_BITS;
|
|
467 |
#ifdef DEBUG
|
|
468 |
fprintf( stderr, "Too many coils requested.\n" );
|
|
469 |
#endif
|
|
470 |
}
|
|
471 |
|
|
472 |
return read_bits_u32(0x02 /* function */,
|
|
473 |
slave, start_addr, count, dest, ttyfd,
|
|
474 |
send_retries, error_code, response_timeout);
|
|
475 |
}
|
|
476 |
|
|
477 |
|
|
478 |
|
|
479 |
|
|
480 |
|
|
481 |
|
|
482 |
/* Execute a transaction for functions that READ REGISTERS.
|
|
483 |
* Called by: read_input_words()
|
|
484 |
* read_output_words()
|
|
485 |
*/
|
|
486 |
static int read_registers(u8 function,
|
|
487 |
u8 slave,
|
|
488 |
u16 start_addr,
|
|
489 |
u16 count,
|
|
490 |
u16 *dest,
|
|
491 |
int dest_size,
|
|
492 |
int ttyfd,
|
|
493 |
int send_retries,
|
|
494 |
u8 *error_code,
|
|
495 |
const struct timespec *response_timeout,
|
|
496 |
pthread_mutex_t *data_access_mutex) {
|
|
497 |
u8 *data;
|
|
498 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
499 |
int response_length;
|
|
500 |
int query_length;
|
|
501 |
int temp,i;
|
|
502 |
|
|
503 |
query_length = build_packet(slave, function, start_addr, count, packet);
|
|
504 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
505 |
|
|
506 |
response_length = mb_transaction(packet, query_length, &data, ttyfd,
|
|
507 |
send_retries, error_code, response_timeout);
|
|
508 |
|
|
509 |
if (response_length < 0) return response_length;
|
|
510 |
if (response_length != 3 + 2*count) return INVALID_FRAME;
|
|
511 |
if (data[2] != 2*count) return INVALID_FRAME;
|
|
512 |
|
|
513 |
if (NULL != data_access_mutex) pthread_mutex_lock(data_access_mutex);
|
|
514 |
for(i = 0; (i < (data[2]*2)) && (i < dest_size); i++ ) {
|
|
515 |
temp = data[3 + i *2] << 8; /* copy reg hi byte to temp hi byte*/
|
|
516 |
temp = temp | data[4 + i * 2]; /* copy reg lo byte to temp lo byte*/
|
|
517 |
dest[i] = temp;
|
|
518 |
}
|
|
519 |
if (NULL != data_access_mutex) pthread_mutex_unlock(data_access_mutex);
|
|
520 |
|
|
521 |
return response_length;
|
|
522 |
}
|
|
523 |
|
|
524 |
|
|
525 |
|
|
526 |
/* Execute a transaction for functions that READ REGISTERS.
|
|
527 |
* return the array with the data to the calling function
|
|
528 |
* Called by: read_input_words_u16_ref()
|
|
529 |
* read_output_words_u16_ref()
|
|
530 |
*/
|
|
531 |
|
|
532 |
static int read_registers_u16_ref(u8 function,
|
|
533 |
u8 slave,
|
|
534 |
u16 start_addr,
|
|
535 |
u16 count,
|
|
536 |
u16 **dest,
|
|
537 |
int ttyfd,
|
|
538 |
int send_retries,
|
|
539 |
u8 *error_code,
|
|
540 |
const struct timespec *response_timeout) {
|
|
541 |
u8 *data;
|
|
542 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
543 |
int response_length;
|
|
544 |
int query_length;
|
|
545 |
int i, byte_count;
|
|
546 |
|
|
547 |
query_length = build_packet(slave, function, start_addr, count, packet);
|
|
548 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
549 |
|
|
550 |
response_length = mb_transaction(packet, query_length, &data, ttyfd,
|
|
551 |
send_retries, error_code, response_timeout);
|
|
552 |
|
|
553 |
if (response_length < 0) return response_length;
|
|
554 |
if (response_length != 3 + 2*count) return INVALID_FRAME;
|
|
555 |
if (data[2] != 2*count) return INVALID_FRAME;
|
|
556 |
|
|
557 |
byte_count = data[2];
|
|
558 |
data = data + 3; /* & data[3] */
|
|
559 |
|
|
560 |
if (ntohs(0x0102) != 0x0102) {
|
|
561 |
/* little endian host... => we need to swap the bytes! */
|
|
562 |
for(i = 0; i < byte_count; i++ ) {
|
|
563 |
/* the following 3 lines result in the two values being exchanged! */
|
|
564 |
data[i ] = data[i] ^ data[i+1];
|
|
565 |
data[i+1] = data[i] ^ data[i+1];
|
|
566 |
data[i ] = data[i] ^ data[i+1];
|
|
567 |
}
|
|
568 |
}
|
|
569 |
*dest = (u16 *)data;
|
|
570 |
return byte_count;
|
|
571 |
}
|
|
572 |
|
|
573 |
|
|
574 |
|
|
575 |
|
|
576 |
/* Execute a transaction for functions that READ REGISTERS.
|
|
577 |
* u16 registers are stored in array of u32, two registers per u32.
|
|
578 |
* Unused bits of last u32 element are set to 0.
|
|
579 |
* Called by: read_input_words_u32()
|
|
580 |
* read_output_words_u32()
|
|
581 |
*/
|
|
582 |
static int read_registers_u32(u8 function,
|
|
583 |
u8 slave,
|
|
584 |
u16 start_addr,
|
|
585 |
u16 count,
|
|
586 |
u32 *dest,
|
|
587 |
int ttyfd,
|
|
588 |
int send_retries,
|
|
589 |
u8 *error_code,
|
|
590 |
const struct timespec *response_timeout) {
|
|
591 |
u8 *data;
|
|
592 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
593 |
int response_length;
|
|
594 |
int query_length;
|
|
595 |
int i, byte_count, dest_pos;
|
|
596 |
|
|
597 |
query_length = build_packet(slave, function, start_addr, count, packet);
|
|
598 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
599 |
|
|
600 |
response_length = mb_transaction(packet, query_length, &data, ttyfd,
|
|
601 |
send_retries, error_code, response_timeout);
|
|
602 |
|
|
603 |
if (response_length < 0) return response_length;
|
|
604 |
if (response_length != 3 + 2*count) return INVALID_FRAME;
|
|
605 |
if (data[2] != 2*count) return INVALID_FRAME;
|
|
606 |
|
|
607 |
byte_count = data[2];
|
|
608 |
data += 3;
|
|
609 |
|
|
610 |
if (ntohs(0x0102) == 0x0102) {
|
|
611 |
/* big endian host... */
|
|
612 |
/* handle groups of 4 bytes... */
|
|
613 |
for(i = 0, dest_pos = 0; i + 3 < byte_count; i += 4, dest_pos++) {
|
|
614 |
*(((u8 *)(dest + dest_pos))+ 0) = *(data+i+3);
|
|
615 |
*(((u8 *)(dest + dest_pos))+ 1) = *(data+i+4);
|
|
616 |
*(((u8 *)(dest + dest_pos))+ 2) = *(data+i+0);
|
|
617 |
*(((u8 *)(dest + dest_pos))+ 3) = *(data+i+1);
|
|
618 |
}
|
|
619 |
/* handle any remaining bytes...
|
|
620 |
* since byte_count is supposed to be multiple of 2,
|
|
621 |
* (and has already been verified above 'if (data[2] != 2*count)')
|
|
622 |
* this will be either 2, or none at all!
|
|
623 |
*/
|
|
624 |
if (i + 1 < byte_count)
|
|
625 |
*(((u8 *)(dest + dest_pos))+ 0) = 0;
|
|
626 |
*(((u8 *)(dest + dest_pos))+ 1) = 0;
|
|
627 |
*(((u8 *)(dest + dest_pos))+ 2) = *(data+i+0);
|
|
628 |
*(((u8 *)(dest + dest_pos))+ 3) = *(data+i+1);
|
|
629 |
} else {
|
|
630 |
/* little endian host... */
|
|
631 |
/* handle groups of 4 bytes... */
|
|
632 |
for(i = 0, dest_pos = 0; i + 3 < byte_count; i += 4, dest_pos++) {
|
|
633 |
*(((u8 *)(dest + dest_pos))+ 0) = *(data+i+1);
|
|
634 |
*(((u8 *)(dest + dest_pos))+ 1) = *(data+i+0);
|
|
635 |
*(((u8 *)(dest + dest_pos))+ 2) = *(data+i+3);
|
|
636 |
*(((u8 *)(dest + dest_pos))+ 3) = *(data+i+2);
|
|
637 |
}
|
|
638 |
/* handle any remaining bytes...
|
|
639 |
* since byte_count is supposed to be multiple of 2,
|
|
640 |
* (and has already been verified above 'if (data[2] != 2*count)')
|
|
641 |
* this will be either 2, or none at all!
|
|
642 |
*/
|
|
643 |
if (i + 1 < byte_count)
|
|
644 |
*(((u8 *)(dest + dest_pos))+ 0) = *(data+i+1);
|
|
645 |
*(((u8 *)(dest + dest_pos))+ 1) = *(data+i+0);
|
|
646 |
*(((u8 *)(dest + dest_pos))+ 2) = 0;
|
|
647 |
*(((u8 *)(dest + dest_pos))+ 3) = 0;
|
|
648 |
}
|
|
649 |
|
|
650 |
return response_length;
|
|
651 |
}
|
|
652 |
|
|
653 |
|
|
654 |
|
|
655 |
|
|
656 |
|
|
657 |
|
|
658 |
|
|
659 |
/* FUNCTION 0x03 - Read Holding Registers */
|
|
660 |
inline int read_output_words(u8 slave,
|
|
661 |
u16 start_addr,
|
|
662 |
u16 count,
|
|
663 |
u16 *dest,
|
|
664 |
int dest_size,
|
|
665 |
int ttyfd,
|
|
666 |
int send_retries,
|
|
667 |
u8 *error_code,
|
|
668 |
const struct timespec *response_timeout,
|
|
669 |
pthread_mutex_t *data_access_mutex) {
|
|
670 |
if( count > MAX_READ_REGS ) {
|
|
671 |
count = MAX_READ_REGS;
|
|
672 |
#ifdef DEBUG
|
|
673 |
fprintf( stderr, "Too many registers requested.\n" );
|
|
674 |
#endif
|
|
675 |
}
|
|
676 |
|
|
677 |
return read_registers(0x03 /* function */,
|
|
678 |
slave, start_addr, count, dest, dest_size, ttyfd,
|
|
679 |
send_retries, error_code, response_timeout, data_access_mutex);
|
|
680 |
}
|
|
681 |
|
|
682 |
|
|
683 |
|
|
684 |
|
|
685 |
/* FUNCTION 0x03 - Read Holding Registers
|
|
686 |
* u16 registers are stored in array of u32, two registers per u32.
|
|
687 |
* Unused bits of last u32 element are set to 0.
|
|
688 |
*/
|
|
689 |
inline int read_output_words_u32(u8 slave,
|
|
690 |
u16 start_addr,
|
|
691 |
u16 count,
|
|
692 |
u32 *dest,
|
|
693 |
int ttyfd,
|
|
694 |
int send_retries,
|
|
695 |
u8 *error_code,
|
|
696 |
const struct timespec *response_timeout) {
|
|
697 |
if( count > MAX_READ_REGS ) {
|
|
698 |
count = MAX_READ_REGS;
|
|
699 |
#ifdef DEBUG
|
|
700 |
fprintf( stderr, "Too many registers requested.\n" );
|
|
701 |
#endif
|
|
702 |
}
|
|
703 |
|
|
704 |
return read_registers_u32(0x03 /* function */,
|
|
705 |
slave, start_addr, count, dest, ttyfd,
|
|
706 |
send_retries, error_code, response_timeout);
|
|
707 |
}
|
|
708 |
|
|
709 |
|
|
710 |
|
|
711 |
|
|
712 |
/* FUNCTION 0x03 - Read Holding Registers
|
|
713 |
* return the array with the data to the calling function
|
|
714 |
*/
|
|
715 |
inline int read_output_words_u16_ref(u8 slave,
|
|
716 |
u16 start_addr,
|
|
717 |
u16 count,
|
|
718 |
u16 **dest,
|
|
719 |
int ttyfd,
|
|
720 |
int send_retries,
|
|
721 |
u8 *error_code,
|
|
722 |
const struct timespec *response_timeout) {
|
|
723 |
if( count > MAX_READ_REGS ) {
|
|
724 |
count = MAX_READ_REGS;
|
|
725 |
#ifdef DEBUG
|
|
726 |
fprintf( stderr, "Too many registers requested.\n" );
|
|
727 |
#endif
|
|
728 |
}
|
|
729 |
|
|
730 |
return read_registers_u16_ref(0x03 /* function */,
|
|
731 |
slave, start_addr, count, dest, ttyfd, send_retries,
|
|
732 |
error_code, response_timeout);
|
|
733 |
}
|
|
734 |
|
|
735 |
|
|
736 |
|
|
737 |
|
|
738 |
/* FUNCTION 0x04 - Read Input Registers */
|
|
739 |
inline int read_input_words(u8 slave,
|
|
740 |
u16 start_addr,
|
|
741 |
u16 count,
|
|
742 |
u16 *dest,
|
|
743 |
int dest_size,
|
|
744 |
int ttyfd,
|
|
745 |
int send_retries,
|
|
746 |
u8 *error_code,
|
|
747 |
const struct timespec *response_timeout,
|
|
748 |
pthread_mutex_t *data_access_mutex) {
|
|
749 |
if( count > MAX_READ_REGS ) {
|
|
750 |
count = MAX_READ_REGS;
|
|
751 |
#ifdef DEBUG
|
|
752 |
fprintf( stderr, "Too many input registers requested.\n" );
|
|
753 |
#endif
|
|
754 |
}
|
|
755 |
|
|
756 |
return read_registers(0x04 /* function */,
|
|
757 |
slave, start_addr, count, dest, dest_size, ttyfd, send_retries,
|
|
758 |
error_code, response_timeout, data_access_mutex);
|
|
759 |
}
|
|
760 |
|
|
761 |
|
|
762 |
/* FUNCTION 0x04 - Read Input Registers
|
|
763 |
* u16 registers are stored in array of u32, two registers per u32.
|
|
764 |
* Unused bits of last u32 element are set to 0.
|
|
765 |
*/
|
|
766 |
inline int read_input_words_u32(u8 slave,
|
|
767 |
u16 start_addr,
|
|
768 |
u16 count,
|
|
769 |
u32 *dest,
|
|
770 |
int ttyfd,
|
|
771 |
int send_retries,
|
|
772 |
u8 *error_code,
|
|
773 |
const struct timespec *response_timeout) {
|
|
774 |
if( count > MAX_READ_REGS ) {
|
|
775 |
count = MAX_READ_REGS;
|
|
776 |
#ifdef DEBUG
|
|
777 |
fprintf( stderr, "Too many input registers requested.\n" );
|
|
778 |
#endif
|
|
779 |
}
|
|
780 |
|
|
781 |
return read_registers_u32(0x04 /* function */,
|
|
782 |
slave, start_addr, count, dest, ttyfd, send_retries,
|
|
783 |
error_code, response_timeout);
|
|
784 |
}
|
|
785 |
|
|
786 |
|
|
787 |
|
|
788 |
|
|
789 |
/* FUNCTION 0x04 - Read Input Registers
|
|
790 |
* return the array with the data to the calling function
|
|
791 |
*/
|
|
792 |
inline int read_input_words_u16_ref(u8 slave,
|
|
793 |
u16 start_addr,
|
|
794 |
u16 count,
|
|
795 |
u16 **dest,
|
|
796 |
int ttyfd,
|
|
797 |
int send_retries,
|
|
798 |
u8 *error_code,
|
|
799 |
const struct timespec *response_timeout) {
|
|
800 |
if( count > MAX_READ_REGS ) {
|
|
801 |
count = MAX_READ_REGS;
|
|
802 |
#ifdef DEBUG
|
|
803 |
fprintf( stderr, "Too many input registers requested.\n" );
|
|
804 |
#endif
|
|
805 |
}
|
|
806 |
|
|
807 |
return read_registers_u16_ref(0x04 /* function */,
|
|
808 |
slave, start_addr, count, dest, ttyfd, send_retries,
|
|
809 |
error_code, response_timeout);
|
|
810 |
}
|
|
811 |
|
|
812 |
|
|
813 |
|
|
814 |
/* Execute a transaction for functions that WRITE a sinlge BIT.
|
|
815 |
* Called by: write_output_bit()
|
|
816 |
* write_output_word()
|
|
817 |
*/
|
|
818 |
static int set_single(u8 function,
|
|
819 |
u8 slave,
|
|
820 |
u16 addr,
|
|
821 |
u16 value,
|
|
822 |
int ttyfd,
|
|
823 |
int send_retries,
|
|
824 |
u8 *error_code,
|
|
825 |
const struct timespec *response_timeout,
|
|
826 |
pthread_mutex_t *data_access_mutex) {
|
|
827 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
828 |
u8 *data;
|
|
829 |
int query_length, response_length;
|
|
830 |
|
|
831 |
if (NULL != data_access_mutex) pthread_mutex_lock(data_access_mutex);
|
|
832 |
query_length = build_packet(slave, function, addr, value, packet);
|
|
833 |
if (NULL != data_access_mutex) pthread_mutex_unlock(data_access_mutex);
|
|
834 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
835 |
|
|
836 |
response_length = mb_transaction(packet, query_length, &data, ttyfd, send_retries,
|
|
837 |
error_code, response_timeout);
|
|
838 |
|
|
839 |
if (response_length < 0) return response_length;
|
|
840 |
if (response_length != 6) return INVALID_FRAME;
|
|
841 |
|
|
842 |
if ((data[2] != packet[2]) || (data[3] != packet[3]) ||
|
|
843 |
(data[4] != packet[4]) || (data[5] != packet[5]))
|
|
844 |
return INVALID_FRAME;
|
|
845 |
|
|
846 |
return response_length;
|
|
847 |
}
|
|
848 |
|
|
849 |
|
|
850 |
|
|
851 |
|
|
852 |
|
|
853 |
|
|
854 |
/* FUNCTION 0x05 - Force Single Coil */
|
|
855 |
inline int write_output_bit(u8 slave,
|
|
856 |
u16 coil_addr,
|
|
857 |
u16 state,
|
|
858 |
int fd,
|
|
859 |
int send_retries,
|
|
860 |
u8 *error_code,
|
|
861 |
const struct timespec *response_timeout,
|
|
862 |
pthread_mutex_t *data_access_mutex) {
|
|
863 |
if (state) state = 0xFF00;
|
|
864 |
|
|
865 |
return set_single(0x05 /* function */,
|
|
866 |
slave, coil_addr, state, fd, send_retries,
|
|
867 |
error_code, response_timeout, data_access_mutex);
|
|
868 |
}
|
|
869 |
|
|
870 |
|
|
871 |
|
|
872 |
|
|
873 |
|
|
874 |
/* FUNCTION 0x06 - Write Single Register */
|
|
875 |
inline int write_output_word(u8 slave,
|
|
876 |
u16 reg_addr,
|
|
877 |
u16 value,
|
|
878 |
int fd,
|
|
879 |
int send_retries,
|
|
880 |
u8 *error_code,
|
|
881 |
const struct timespec *response_timeout,
|
|
882 |
pthread_mutex_t *data_access_mutex) {
|
|
883 |
return set_single(0x06 /* function */,
|
|
884 |
slave, reg_addr, value, fd, send_retries,
|
|
885 |
error_code, response_timeout, data_access_mutex);
|
|
886 |
}
|
|
887 |
|
|
888 |
|
|
889 |
|
|
890 |
|
|
891 |
/* FUNCTION 0x0F - Force Multiple Coils */
|
|
892 |
int write_output_bits(u8 slave,
|
|
893 |
u16 start_addr,
|
|
894 |
u16 coil_count,
|
|
895 |
u16 *data,
|
|
896 |
int ttyfd,
|
|
897 |
int send_retries,
|
|
898 |
u8 *error_code,
|
|
899 |
const struct timespec *response_timeout,
|
|
900 |
pthread_mutex_t *data_access_mutex) {
|
|
901 |
int byte_count, i;
|
|
902 |
u8 bit;
|
|
903 |
int coil_check = 0;
|
|
904 |
int data_array_pos = 0;
|
|
905 |
int query_length, response_length;
|
|
906 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
907 |
u8 *rdata;
|
|
908 |
|
|
909 |
if( coil_count > MAX_WRITE_COILS ) {
|
|
910 |
coil_count = MAX_WRITE_COILS;
|
|
911 |
#ifdef DEBUG
|
|
912 |
fprintf( stderr, "Writing to too many coils.\n" );
|
|
913 |
#endif
|
|
914 |
}
|
|
915 |
|
|
916 |
query_length = build_packet(slave, 0x0F /* function */,
|
|
917 |
start_addr, coil_count, packet);
|
|
918 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
919 |
|
|
920 |
/* NOTE: Integer division. (count+7)/8 is equivalent to ceil(count/8) */
|
|
921 |
byte_count = (coil_count+7)/8;
|
|
922 |
packet[query_length] = byte_count;
|
|
923 |
|
|
924 |
if (NULL != data_access_mutex) pthread_mutex_lock(data_access_mutex);
|
|
925 |
bit = 0x01;
|
|
926 |
for(i = 0; i < byte_count; i++) {
|
|
927 |
packet[++query_length] = 0;
|
|
928 |
while((bit & 0xFF) && (coil_check++ < coil_count)) {
|
|
929 |
if(data[data_array_pos++]) {packet[query_length] |= bit;}
|
|
930 |
else {packet[query_length] &= ~bit;}
|
|
931 |
bit <<= 1;
|
|
932 |
}
|
|
933 |
bit = 0x01;
|
|
934 |
}
|
|
935 |
if (NULL != data_access_mutex) pthread_mutex_unlock(data_access_mutex);
|
|
936 |
|
|
937 |
response_length = mb_transaction(packet, ++query_length, &rdata, ttyfd, send_retries,
|
|
938 |
error_code, response_timeout);
|
|
939 |
|
|
940 |
if (response_length < 0) return response_length;
|
|
941 |
if (response_length != 6) return INVALID_FRAME;
|
|
942 |
if ((rdata[2] != packet[2]) ||
|
|
943 |
(rdata[3] != packet[3]) ||
|
|
944 |
(rdata[4] != packet[4]) ||
|
|
945 |
(rdata[5] != packet[5])) return INVALID_FRAME;
|
|
946 |
|
|
947 |
return response_length;
|
|
948 |
}
|
|
949 |
|
|
950 |
|
|
951 |
|
|
952 |
/* FUNCTION 0x0F - Force Multiple Coils
|
|
953 |
* Bits should be stored on an u32 array, 32 bits per u32.
|
|
954 |
* Unused bits in last u32 should be set to 0.
|
|
955 |
*/
|
|
956 |
int write_output_bits_u32(u8 slave,
|
|
957 |
u16 start_addr,
|
|
958 |
u16 coil_count,
|
|
959 |
u32 *data,
|
|
960 |
int ttyfd,
|
|
961 |
int send_retries,
|
|
962 |
u8 *error_code,
|
|
963 |
const struct timespec *response_timeout) {
|
|
964 |
int org_pos, byte_count, i;
|
|
965 |
int query_length, response_length;
|
|
966 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
967 |
u8 *rdata;
|
|
968 |
|
|
969 |
if( coil_count > MAX_WRITE_COILS ) {
|
|
970 |
coil_count = MAX_WRITE_COILS;
|
|
971 |
#ifdef DEBUG
|
|
972 |
fprintf( stderr, "Writing to too many coils.\n" );
|
|
973 |
#endif
|
|
974 |
}
|
|
975 |
|
|
976 |
query_length = build_packet(slave, 0x0F /* function */,
|
|
977 |
start_addr, coil_count, packet);
|
|
978 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
979 |
|
|
980 |
/* NOTE: Integer division. This is equivalent of determining the ceil(count/8) */
|
|
981 |
byte_count = (coil_count+7)/8;
|
|
982 |
packet[query_length] = byte_count;
|
|
983 |
|
|
984 |
/* handle groups of 4 bytes... */
|
|
985 |
for(i = 0, org_pos = 0; i + 3 < byte_count; i += 4, org_pos++) {
|
|
986 |
packet[++query_length] = data[org_pos] & 0xFF; data[org_pos] >>= 8;
|
|
987 |
packet[++query_length] = data[org_pos] & 0xFF; data[org_pos] >>= 8;
|
|
988 |
packet[++query_length] = data[org_pos] & 0xFF; data[org_pos] >>= 8;
|
|
989 |
packet[++query_length] = data[org_pos] & 0xFF;
|
|
990 |
}
|
|
991 |
/* handle any remaining bytes... */
|
|
992 |
for(; i < byte_count; i++) {
|
|
993 |
packet[++query_length] = data[org_pos] & 0xFF;
|
|
994 |
data[org_pos] >>= 8;
|
|
995 |
}
|
|
996 |
|
|
997 |
response_length = mb_transaction(packet, ++query_length, &rdata, ttyfd, send_retries,
|
|
998 |
error_code, response_timeout);
|
|
999 |
|
|
1000 |
if (response_length < 0) return response_length;
|
|
1001 |
if (response_length != 6) return INVALID_FRAME;
|
|
1002 |
if ((rdata[2] != packet[2]) ||
|
|
1003 |
(rdata[3] != packet[3]) ||
|
|
1004 |
(rdata[4] != packet[4]) ||
|
|
1005 |
(rdata[5] != packet[5])) return INVALID_FRAME;
|
|
1006 |
|
|
1007 |
return response_length;
|
|
1008 |
}
|
|
1009 |
|
|
1010 |
|
|
1011 |
|
|
1012 |
|
|
1013 |
|
|
1014 |
/* FUNCTION 0x10 - Force Multiple Registers */
|
|
1015 |
int write_output_words(u8 slave,
|
|
1016 |
u16 start_addr,
|
|
1017 |
u16 reg_count,
|
|
1018 |
u16 *data,
|
|
1019 |
int ttyfd,
|
|
1020 |
int send_retries,
|
|
1021 |
u8 *error_code,
|
|
1022 |
const struct timespec *response_timeout,
|
|
1023 |
pthread_mutex_t *data_access_mutex) {
|
|
1024 |
u8 byte_count;
|
|
1025 |
int i, query_length, response_length;
|
|
1026 |
u8 packet[QUERY_BUFFER_SIZE];
|
|
1027 |
u8 *rdata;
|
|
1028 |
|
|
1029 |
if( reg_count > MAX_WRITE_REGS ) {
|
|
1030 |
reg_count = MAX_WRITE_REGS;
|
|
1031 |
#ifdef DEBUG
|
|
1032 |
fprintf( stderr, "Trying to write to too many registers.\n" );
|
|
1033 |
#endif
|
|
1034 |
}
|
|
1035 |
|
|
1036 |
query_length = build_packet(slave, 0x10 /* function */,
|
|
1037 |
start_addr, reg_count, packet);
|
|
1038 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
1039 |
|
|
1040 |
byte_count = reg_count*2;
|
|
1041 |
packet[query_length] = byte_count;
|
|
1042 |
|
|
1043 |
if (NULL != data_access_mutex) pthread_mutex_lock(data_access_mutex);
|
|
1044 |
for( i = 0; i < reg_count; i++ ) {
|
|
1045 |
packet[++query_length] = data[i] >> 8;
|
|
1046 |
packet[++query_length] = data[i] & 0x00FF;
|
|
1047 |
}
|
|
1048 |
if (NULL != data_access_mutex) pthread_mutex_unlock(data_access_mutex);
|
|
1049 |
|
|
1050 |
response_length = mb_transaction(packet, ++query_length, &rdata, ttyfd, send_retries,
|
|
1051 |
error_code, response_timeout);
|
|
1052 |
|
|
1053 |
if (response_length < 0) return response_length;
|
|
1054 |
if (response_length != 6) return INVALID_FRAME;
|
|
1055 |
if ((rdata[2] != packet[2]) ||
|
|
1056 |
(rdata[3] != packet[3]) ||
|
|
1057 |
(rdata[4] != packet[4]) ||
|
|
1058 |
(rdata[5] != packet[5])) return INVALID_FRAME;
|
|
1059 |
|
|
1060 |
return response_length;
|
|
1061 |
}
|
|
1062 |
|
|
1063 |
|
|
1064 |
|
|
1065 |
|
|
1066 |
/* FUNCTION 0x10 - Force Multiple Registers
|
|
1067 |
* u16 registers are stored in array of u32, two registers per u32.
|
|
1068 |
* Unused bits of last u32 element are set to 0.
|
|
1069 |
*/
|
|
1070 |
int write_output_words_u32(u8 slave,
|
|
1071 |
u16 start_addr,
|
|
1072 |
/* number of 16 bit registers packed in the u32 array! */
|
|
1073 |
u16 reg_count,
|
|
1074 |
u32 *data,
|
|
1075 |
int ttyfd,
|
|
1076 |
int send_retries,
|
|
1077 |
u8 *error_code,
|
|
1078 |
const struct timespec *response_timeout) {
|
|
1079 |
u8 byte_count;
|
|
1080 |
int i, query_length, response_length;
|
|
1081 |
u8 packet_[QUERY_BUFFER_SIZE];
|
|
1082 |
u8 *packet = packet_; /* remove the const'ness of packet_ */
|
|
1083 |
u8 *rdata;
|
|
1084 |
|
|
1085 |
if( reg_count > MAX_WRITE_REGS ) {
|
|
1086 |
reg_count = MAX_WRITE_REGS;
|
|
1087 |
#ifdef DEBUG
|
|
1088 |
fprintf( stderr, "Trying to write to too many registers.\n" );
|
|
1089 |
#endif
|
|
1090 |
}
|
|
1091 |
|
|
1092 |
/* Make sure that the de-referencing and up-casting going on later on in
|
|
1093 |
* this function, i.e. code like the following line:
|
|
1094 |
* *((u16 *)packet) = XXX
|
|
1095 |
* will result in u16 words starting off on even addresses.
|
|
1096 |
* If we don't do this, some compilers (e.g. AVR32 cross-compiler) will
|
|
1097 |
* generate code which, when executed, will result in 'bus error'.
|
|
1098 |
*
|
|
1099 |
* The following packet++ means that the first byte of the packet array is
|
|
1100 |
* essentially never used. Notice too that the size of thepacket array
|
|
1101 |
* already takes into account this un-used byte.
|
|
1102 |
*/
|
|
1103 |
packet++;
|
|
1104 |
|
|
1105 |
query_length = build_packet(slave, 0x10 /* function */,
|
|
1106 |
start_addr, reg_count, packet);
|
|
1107 |
if (query_length < 0) return INTERNAL_ERROR;
|
|
1108 |
|
|
1109 |
byte_count = reg_count*2;
|
|
1110 |
packet[query_length] = byte_count;
|
|
1111 |
|
|
1112 |
/* handle groups of 4 bytes... */
|
|
1113 |
for(i = 0; 4*i + 3 < byte_count; i++) {
|
|
1114 |
*((u16 *)(packet+(++query_length))) = mb_hton(data[i]); ++query_length;
|
|
1115 |
*((u16 *)(packet+(++query_length))) = mb_hton(data[i] >> 16); ++query_length;
|
|
1116 |
}
|
|
1117 |
|
|
1118 |
/* handle any remaining bytes...
|
|
1119 |
* since byte_count is supposed to be multiple of 2,
|
|
1120 |
* (and has already been verified above 'if (data[2] != 2*count)')
|
|
1121 |
* this will be either 2, or none at all!
|
|
1122 |
*/
|
|
1123 |
if (4*i + 1 < byte_count) {
|
|
1124 |
*((u16 *)(packet+(++query_length))) = mb_hton(data[i]); ++query_length;
|
|
1125 |
}
|
|
1126 |
|
|
1127 |
response_length = mb_transaction(packet, ++query_length, &rdata, ttyfd, send_retries,
|
|
1128 |
error_code, response_timeout);
|
|
1129 |
|
|
1130 |
if (response_length < 0) return response_length;
|
|
1131 |
if (response_length != 6) return INVALID_FRAME;
|
|
1132 |
if ((rdata[2] != packet[2]) ||
|
|
1133 |
(rdata[3] != packet[3]) ||
|
|
1134 |
(rdata[4] != packet[4]) ||
|
|
1135 |
(rdata[5] != packet[5])) return INVALID_FRAME;
|
|
1136 |
|
|
1137 |
return response_length;
|
|
1138 |
}
|
|
1139 |
|
|
1140 |
|
|
1141 |
|
|
1142 |
|
|
1143 |
|
|
1144 |
|
|
1145 |
/************************************************/
|
|
1146 |
/************************************************/
|
|
1147 |
/** **/
|
|
1148 |
/** Modbus Library Management Functions. **/
|
|
1149 |
/** **/
|
|
1150 |
/************************************************/
|
|
1151 |
/************************************************/
|
|
1152 |
|
|
1153 |
|
|
1154 |
|
|
1155 |
/* Initialise the Modbus Master Layer */
|
|
1156 |
int mb_master_init__(int extra_bytes) {
|
|
1157 |
#ifdef DEBUG
|
|
1158 |
fprintf(stderr, "mb_master_init__(extra_bytes=%d), QUERY_BUFFER_SIZE=%d\n", extra_bytes, QUERY_BUFFER_SIZE);
|
|
1159 |
#endif
|
|
1160 |
buff_extra_bytes_ = extra_bytes;
|
|
1161 |
return 0;
|
|
1162 |
}
|
|
1163 |
|
|
1164 |
|
|
1165 |
/* Shut down the Modbus Master Layer */
|
|
1166 |
int mb_master_done__(void) {
|
|
1167 |
return 0;
|
|
1168 |
}
|
|
1169 |
|
|
1170 |
|
|
1171 |
#if 0
|
|
1172 |
int mb_master_init(int nd_count) {
|
|
1173 |
int extra_bytes;
|
|
1174 |
|
|
1175 |
#ifdef DEBUG
|
|
1176 |
fprintf( stderr, "mb_master_init()\n");
|
|
1177 |
fprintf( stderr, "creating %d nodes\n", nd_count);
|
|
1178 |
#endif
|
|
1179 |
|
|
1180 |
/* initialise layer 1 library */
|
|
1181 |
if (modbus_init(nd_count, DEF_OPTIMIZATION, &extra_bytes) < 0)
|
|
1182 |
goto error_exit_0;
|
|
1183 |
|
|
1184 |
/* initialise this library */
|
|
1185 |
if (mb_master_init__(extra_bytes) < 0)
|
|
1186 |
goto error_exit_1;
|
|
1187 |
|
|
1188 |
return 0;
|
|
1189 |
|
|
1190 |
error_exit_1:
|
|
1191 |
modbus_done();
|
|
1192 |
error_exit_0:
|
|
1193 |
return -1;
|
|
1194 |
}
|
|
1195 |
|
|
1196 |
|
|
1197 |
int mb_master_done(void) {
|
|
1198 |
mb_master_done__();
|
|
1199 |
return modbus_done();
|
|
1200 |
}
|
|
1201 |
#endif
|
|
1202 |
|
|
1203 |
|
|
1204 |
/* Establish a connection to a remote server/slave */
|
|
1205 |
/* NOTE: We use the lower 2 bits of the returned node id to identify which
|
|
1206 |
* layer1 implementation to use.
|
|
1207 |
* 0 -> TCP
|
|
1208 |
* 1 -> RTU
|
|
1209 |
* 2 -> ASCII
|
|
1210 |
* 4 -> unused
|
|
1211 |
* The node id used by the layer1 is shifted left 2 bits
|
|
1212 |
* before returning the node id to the caller!
|
|
1213 |
*/
|
|
1214 |
int mb_master_connect(node_addr_t node_addr) {
|
|
1215 |
int res = -1;
|
|
1216 |
|
|
1217 |
#ifdef DEBUG
|
|
1218 |
fprintf( stderr, "mb_master_tcp connect()\n");
|
|
1219 |
#endif
|
|
1220 |
|
|
1221 |
/* call layer 1 library */
|
|
1222 |
switch(node_addr.naf) {
|
|
1223 |
case naf_tcp:
|
|
1224 |
res = modbus_tcp_connect(node_addr);
|
|
1225 |
if (res >= 0) res = res*4 + 0 /* offset into fptr_ with TCP functions */;
|
|
1226 |
return res;
|
|
1227 |
case naf_rtu:
|
|
1228 |
res = modbus_rtu_connect(node_addr);
|
|
1229 |
if (res >= 0) res = res*4 + 1 /* offset into fptr_ with RTU functions */;
|
|
1230 |
return res;
|
|
1231 |
case naf_ascii:
|
|
1232 |
res = modbus_ascii_connect(node_addr);
|
|
1233 |
if (res >= 0) res = res*4 + 2 /* offset into fptr_ with ASCII functions */;
|
|
1234 |
return res;
|
|
1235 |
}
|
|
1236 |
|
|
1237 |
return -1;
|
|
1238 |
}
|
|
1239 |
|
|
1240 |
|
|
1241 |
|
|
1242 |
|
|
1243 |
|
|
1244 |
/* Shut down a connection to a remote server/slave */
|
|
1245 |
int mb_master_close(int fd) {
|
|
1246 |
#ifdef DEBUG
|
|
1247 |
fprintf( stderr, "mb_master_close(): nd = %d\n", fd);
|
|
1248 |
#endif
|
|
1249 |
get_ttyfd(); /* declare the ttyfd variable, ... */
|
|
1250 |
/* call layer 1 library */
|
|
1251 |
return modbus_close(ttyfd);
|
|
1252 |
}
|
|
1253 |
|
|
1254 |
|
|
1255 |
|
|
1256 |
|
|
1257 |
|
|
1258 |
|
|
1259 |
/* Tell the library that communications will be suspended for some time. */
|
|
1260 |
/* RTU and ASCII versions ignore this function
|
|
1261 |
* TCP version closes all the open tcp connections (connections are automatically
|
|
1262 |
* re-established the next time an IO function to the slave is requested).
|
|
1263 |
* To be more precise, the TCP version makes an estimate of how long
|
|
1264 |
* the silence will be based on previous invocations to this exact same
|
|
1265 |
* function, and will only close the connections if this silence is
|
|
1266 |
* expected to be longer than 1 second!
|
|
1267 |
* (The closing of connections is specified in Modbus specification)
|
|
1268 |
*/
|
|
1269 |
int mb_master_tcp_silence_init(void) {
|
|
1270 |
#ifdef DEBUG
|
|
1271 |
fprintf( stderr, "mb_master_silence_init():\n");
|
|
1272 |
#endif
|
|
1273 |
/* call layer 1 library */
|
|
1274 |
return modbus_tcp_silence_init();
|
|
1275 |
}
|
|
1276 |
|
|
1277 |
|