Mario's fix for the pointer alignment problem. See changeset 4: 99009b24d401.
/*
* Copyright (c) 2001,2016 Mario de Sousa (msousa@fe.up.pt)
*
* This file is part of the Modbus library for Beremiz and matiec.
*
* This Modbus library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser
* General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this Modbus library. If not, see <http://www.gnu.org/licenses/>.
*
* This code is made available on the understanding that it will not be
* used in safety-critical situations without a full and competent review.
*/
#include <fcntl.h> /* File control definitions */
#include <stdio.h> /* Standard input/output */
#include <string.h>
#include <stdlib.h>
#include <termio.h> /* POSIX terminal control definitions */
#include <sys/time.h> /* Time structures for select() */
#include <unistd.h> /* POSIX Symbolic Constants */
#include <assert.h>
#include <errno.h> /* Error definitions */
#include <time.h> /* clock_gettime() */
#include <limits.h> /* required for INT_MAX */
#include <netinet/in.h> /* required for htons() and ntohs() */
#include "mb_layer1.h" /* The public interface this file implements... */
#include "mb_rtu_private.h"
#define ERRMSG
#define ERRMSG_HEAD "ModbusRTU: "
// #define DEBUG /* uncomment to see the data sent and received */
#ifdef DEBUG
#ifndef ERRMSG
#define ERRMSG
#endif
#endif
#define SAFETY_MARGIN 10
/************************************/
/** **/
/** Include common code... **/
/** **/
/************************************/
#include "mb_ds_util.h" /* data structures... */
#include "mb_time_util.h" /* time conversion routines... */
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Forward Declarations ****/
/**** and Defaults ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/* CRC funtions... */
typedef u16 (*crc_func_t)(u8 *buf, int cnt);
static u16 crc_slow(u8 *buf, int cnt);
static u16 crc_fast(u8 *buf, int cnt);
/* slow version does not need to be initialised, so we use it as default. */
#define DEF_CRC_FUNCTION crc_slow
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Local Utility functions... ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/************************************/
/** **/
/** Miscelaneous Utility functions **/
/** **/
/************************************/
/*
* Functions to convert u16 variables
* between network and host byte order
*
* NOTE: Modbus uses MSByte first, just like
* tcp/ip, so we use the htons() and
* ntoh() functions to guarantee
* code portability.
*/
static inline u16 mb_hton(u16 h_value)
{return htons(h_value);} /* return h_value; */
static inline u16 mb_ntoh(u16 m_value)
{return ntohs(m_value);} /* return m_value; */
/* return Most Significant Byte of value; */
static inline u8 msb(u16 value)
{return (value >> 8) & 0xFF;}
/* return Least Significant Byte of value; */
static inline u8 lsb(u16 value)
{return value & 0xFF;}
#define u16_v(char_ptr) (*((u16 *)(&(char_ptr))))
/**************************************/
/** **/
/** Initialise a termios struct **/
/** **/
/**************************************/
static int termios_init(struct termios *tios,
int baud,
int parity,
int data_bits,
int stop_bits) {
speed_t baud_rate;
if (tios == NULL)
return -1;
/* reset all the values... */
/* NOTE: the following are initialised later on...
tios->c_iflag = 0;
tios->c_oflag = 0;
tios->c_cflag = 0;
tios->c_lflag = 0;
*/
tios->c_line = 0;
/* The minimum number of characters that should be received
* to satisfy a call to read().
*/
tios->c_cc[VMIN ] = 0;
/* The maximum inter-arrival interval between two characters,
* in deciseconds.
*
* NOTE: we could use this to detect the end of RTU frames,
* but we prefer to use select() that has higher resolution,
* even though this higher resolution is most probably not
* supported, and the effective resolution is 10ms,
* one tenth of a decisecond.
*/
tios->c_cc[VTIME] = 0;
/* configure the input modes... */
tios->c_iflag = IGNBRK | /* ignore BREAK condition on input */
IGNPAR | /* ignore framing errors and parity errors */
IXANY; /* enable any character to restart output */
/* BRKINT Only active if IGNBRK is not set.
* generate SIGINT on BREAK condition,
* otherwise read BREAK as character \0.
* PARMRK Only active if IGNPAR is not set.
* replace bytes with parity errors with
* \377 \0, instead of \0.
* INPCK enable input parity checking
* ISTRIP strip off eighth bit
* IGNCR ignore carriage return on input
* INLCR only active if IGNCR is not set.
* translate newline to carriage return on input
* ICRNL only active if IGNCR is not set.
* translate carriage return to newline on input
* IUCLC map uppercase characters to lowercase on input
* IXON enable XON/XOFF flow control on output
* IXOFF enable XON/XOFF flow control on input
* IMAXBEL ring bell when input queue is full
*/
/* configure the output modes... */
tios->c_oflag = OPOST; /* enable implementation-defined output processing */
/* ONOCR don't output CR at column 0
* OLCUC map lowercase characters to uppercase on output
* ONLCR map NL to CR-NL on output
* OCRNL map CR to NL on output
* OFILL send fill characters for a delay, rather than
* using a timed delay
* OFDEL fill character is ASCII DEL. If unset, fill
* character is ASCII NUL
* ONLRET don't output CR
* NLDLY NL delay mask. Values are NL0 and NL1.
* CRDLY CR delay mask. Values are CR0, CR1, CR2, or CR3.
* TABDLY horizontal tab delay mask. Values are TAB0, TAB1,
* TAB2, TAB3, or XTABS. A value of XTABS expands
* tabs to spaces (with tab stops every eight columns).
* BSDLY backspace delay mask. Values are BS0 or BS1.
* VTDLY vertical tab delay mask. Values are VT0 or VT1.
* FFDLY form feed delay mask. Values are FF0 or FF1.
*/
/* configure the control modes... */
tios->c_cflag = CREAD | /* enable receiver. */
CLOCAL; /* ignore modem control lines */
/* HUPCL lower modem control lines after last process
* closes the device (hang up).
* CRTSCTS flow control (Request/Clear To Send).
*/
if (data_bits == 5) tios->c_cflag |= CS5;
else if (data_bits == 6) tios->c_cflag |= CS6;
else if (data_bits == 7) tios->c_cflag |= CS7;
else if (data_bits == 8) tios->c_cflag |= CS8;
else return -1;
if (stop_bits == 1) tios->c_cflag &=~ CSTOPB;
else if (stop_bits == 2) tios->c_cflag |= CSTOPB;
else return -1;
if(parity == 0) { /* none */
tios->c_cflag &=~ PARENB;
tios->c_cflag &=~ PARODD;
} else if(parity == 2) { /* even */
tios->c_cflag |= PARENB;
tios->c_cflag &=~ PARODD;
} else if(parity == 1) { /* odd */
tios->c_cflag |= PARENB;
tios->c_cflag |= PARODD;
} else return -1;
/* configure the local modes... */
tios->c_lflag = IEXTEN; /* enable implementation-defined input processing */
/* ISIG when any of the characters INTR, QUIT, SUSP, or DSUSP
* are received, generate the corresponding signal.
* ICANON enable canonical mode. This enables the special
* characters EOF, EOL, EOL2, ERASE, KILL, REPRINT,
* STATUS, and WERASE, and buffers by lines.
* ECHO echo input characters.
*/
/* Set the baud rate */
/* Must be done before reseting all the values to 0! */
switch(baud) {
case 110: baud_rate = B110; break;
case 300: baud_rate = B300; break;
case 600: baud_rate = B600; break;
case 1200: baud_rate = B1200; break;
case 2400: baud_rate = B2400; break;
case 4800: baud_rate = B4800; break;
case 9600: baud_rate = B9600; break;
case 19200: baud_rate = B19200; break;
case 38400: baud_rate = B38400; break;
case 57600: baud_rate = B57600; break;
case 115200: baud_rate = B115200; break;
default: return -1;
} /* switch() */
if ((cfsetispeed(tios, baud_rate) < 0) ||
(cfsetospeed(tios, baud_rate) < 0))
return -1;;
return 0;
}
/************************************/
/** **/
/** A data structure - recv buffer **/
/** **/
/************************************/
/* A data structutre used for the receive buffer, i.e. the buffer
* that stores the bytes we receive from the bus.
*
* What we realy needed here is an unbounded buffer. This may be
* implemented by:
* - a circular buffer the size of the maximum frame length
* - a linear buffer somewhat larger than the maximum frame length
*
* Due to the fact that this library's API hands over the frame data
* in a linear buffer, and also reads the data (i,e, calls to read())
* into a linear buffer:
* - the circular buffer would be more efficient in aborted frame
* situations
* - the linear is more efficient when no aborted frames are recieved.
*
* I have decided to optimize for the most often encountered situation,
* i.e. when no aborted frames are received.
*
* The linear buffer has a size larger than the maximum
* number of bytes we intend to store in it. We simply start ignoring
* the first bytes in the buffer in which we are not interested in, and
* continue with the extra bytes of the buffer. When we reach the limit
* of these extra bytes, we shift the data down so it once again
* uses the first bytes of the buffer. The more number of extra bytes,
* the more efficient it will be.
*
* Note that if we don't receive any aborted frames, it will work as a
* simple linear buffer, and no memory shifts will be required!
*/
typedef struct {
lb_buf_t data_buf;
/* Flag:
* 1 => We have detected a frame boundary using 3.5 character silence
* 0 => We have not yet detected any frame boundary
*/
int found_frame_boundary; /* ==1 => valid data ends at a frame boundary. */
/* Flag:
* Used in the call to search_for_frame() as the history parameter!
*/
int frame_search_history;
} recv_buf_t;
/* A small auxiliary function... */
static inline u8 *recv_buf_init(recv_buf_t *buf, int size, int max_data_start) {
buf->found_frame_boundary = 0;
buf->frame_search_history = 0;
return lb_init(&buf->data_buf, size, max_data_start);
}
/* A small auxiliary function... */
static inline void recv_buf_done(recv_buf_t *buf) {
buf->found_frame_boundary = 0;
buf->frame_search_history = 0;
lb_done(&buf->data_buf);
}
/* A small auxiliary function... */
static inline void recv_buf_reset(recv_buf_t *buf) {
buf->found_frame_boundary = 0;
buf->frame_search_history = 0;
lb_data_purge_all(&buf->data_buf);
}
/************************************/
/** **/
/** A data structure - nd entry **/
/** **/
/************************************/
/* NOTE: nd = node descriptor */
typedef struct {
/* The file descriptor associated with this node */
/* NOTE: if the node is not yet in use, i.e. if the node is free,
* then fd will be set to -1
*/
int fd;
/* the time it takes to transmit 1.5 characters at the current baud rate */
struct timeval time_15_char_;
/* the time it takes to transmit 3.5 characters at the current baud rate */
struct timeval time_35_char_;
/* Due to the algorithm used to work around aborted frames, the modbus_read()
* function might read beyond the current modbus frame. The extra bytes
* must be stored for the subsequent call to modbus_read().
*/
recv_buf_t recv_buf_;
/* The old settings of the serial port, to be reset when the library is closed... */
struct termios old_tty_settings_;
/* ignore echo flag.
* If set to 1, then it means that we will be reading every byte we
* ourselves write out to the bus, so we must ignore those bytes read
* before we really read the data sent by remote nodes.
*
* This comes in useful when using a RS232-RS485 converter that does
* not correctly control the RTS-CTS lines...
*/
int ignore_echo;
} nd_entry_t;
static inline void nd_entry_init(nd_entry_t *nde) {
nde->fd = -1; /* The node is free... */
}
static int nd_entry_connect(nd_entry_t *nde,
node_addr_t *node_addr,
optimization_t opt) {
int parity_bits, start_bits, char_bits;
struct termios settings;
int buf_size;
/*
if (nde == NULL)
goto error_exit_0;
*/
if (nde->fd >= 0)
goto error_exit_0;
/* initialise the termios data structure */
if (termios_init(&settings,
node_addr->addr.rtu.baud,
node_addr->addr.rtu.parity,
node_addr->addr.rtu.data_bits,
node_addr->addr.rtu.stop_bits)
< 0) {
#ifdef ERRMSG
fprintf(stderr, ERRMSG_HEAD "Invalid serial line settings"
"(baud=%d, parity=%d, data_bits=%d, stop_bits=%d)\n",
node_addr->addr.rtu.baud,
node_addr->addr.rtu.parity,
node_addr->addr.rtu.data_bits,
node_addr->addr.rtu.stop_bits);
#endif
goto error_exit_1;
}
/* set the ignore_echo flag */
nde->ignore_echo = node_addr->addr.rtu.ignore_echo;
/* initialise recv buffer */
buf_size = (opt == optimize_size)?RECV_BUFFER_SIZE_SMALL:
RECV_BUFFER_SIZE_LARGE;
if (recv_buf_init(&nde->recv_buf_, buf_size, buf_size - MAX_RTU_FRAME_LENGTH)
== NULL) {
#ifdef ERRMSG
fprintf(stderr, ERRMSG_HEAD "Out of memory: error initializing receive buffer\n");
#endif
goto error_exit_2;
}
/* open the serial port */
if((nde->fd = open(node_addr->addr.rtu.device, O_RDWR | O_NOCTTY | O_NDELAY))
< 0) {
#ifdef ERRMSG
perror("open()");
fprintf(stderr, ERRMSG_HEAD "Error opening device %s\n",
node_addr->addr.rtu.device);
#endif
goto error_exit_3;
}
if(tcgetattr(nde->fd, &nde->old_tty_settings_) < 0) {
#ifdef ERRMSG
perror("tcgetattr()");
fprintf(stderr, ERRMSG_HEAD "Error reading device's %s original settings.\n",
node_addr->addr.rtu.device);
#endif
goto error_exit_4;
}
if(tcsetattr(nde->fd, TCSANOW, &settings) < 0) {
#ifdef ERRMSG
perror("tcsetattr()");
fprintf(stderr, ERRMSG_HEAD "Error configuring device %s "
"(baud=%d, parity=%d, data_bits=%d, stop_bits=%d)\n",
node_addr->addr.rtu.device,
node_addr->addr.rtu.baud,
node_addr->addr.rtu.parity,
node_addr->addr.rtu.data_bits,
node_addr->addr.rtu.stop_bits);
#endif
goto error_exit_4;
}
parity_bits = (node_addr->addr.rtu.parity == 0)?0:1;
start_bits = 1;
char_bits = start_bits + node_addr->addr.rtu.data_bits +
parity_bits + node_addr->addr.rtu.stop_bits;
nde->time_15_char_ = d_to_timeval(SAFETY_MARGIN*1.5*char_bits/node_addr->addr.rtu.baud);
nde->time_35_char_ = d_to_timeval(SAFETY_MARGIN*3.5*char_bits/node_addr->addr.rtu.baud);
#ifdef DEBUG
fprintf(stderr, "nd_entry_connect(): %s ope{.node=NULL, .node_count=0};n\n", node_addr->addr.rtu.device );
fprintf(stderr, "nd_entry_connect(): returning fd=%d\n", nde->fd);
#endif
return nde->fd;
error_exit_4:
close(nde->fd);
error_exit_3:
recv_buf_done(&nde->recv_buf_);
error_exit_2:
error_exit_1:
nde->fd = -1; /* set the node as free... */
error_exit_0:
return -1;
}
static int nd_entry_free(nd_entry_t *nde) {
if (nde->fd < 0)
/* already free */
return -1;
/* reset the tty device old settings... */
#ifdef ERRMSG
int res =
#endif
tcsetattr(nde->fd, TCSANOW, &nde->old_tty_settings_);
#ifdef ERRMSG
if(res < 0)
fprintf(stderr, ERRMSG_HEAD "Error reconfiguring serial port to it's original settings.\n");
#endif
recv_buf_done(&nde->recv_buf_);
close(nde->fd);
nde->fd = -1;
return 0;
}
static inline int nd_entry_is_free(nd_entry_t *nde) {
return (nde->fd < 0);
}
/************************************/
/** **/
/** A data structure - nd table **/
/** **/
/************************************/
typedef struct {
/* the array of node descriptors, and current size... */
nd_entry_t *node;
int node_count; /* total number of nodes in the node[] array */
} nd_table_t;
#if 1
/* nd_table_init()
* Version 1 of the nd_table_init() function.
* If called more than once, 2nd and any subsequent calls will
* be interpreted as a request to confirm that it was already correctly
* initialized with the requested number of nodes.
*/
static int nd_table_init(nd_table_t *ndt, int nd_count) {
int count;
if (ndt->node != NULL) {
/* this function has already been called, and the node table is already initialised */
return (ndt->node_count == nd_count)?0:-1;
}
/* initialise the node descriptor metadata array... */
ndt->node = malloc(sizeof(nd_entry_t) * nd_count);
if (ndt->node == NULL) {
#ifdef ERRMSG
fprintf(stderr, ERRMSG_HEAD "Out of memory: error initializing node address buffer\n");
#endif
return -1;
}
ndt->node_count = nd_count;
/* initialise the state of each node in the array... */
for (count = 0; count < ndt->node_count; count++) {
nd_entry_init(&ndt->node[count]);
} /* for() */
return nd_count; /* number of succesfully created nodes! */
}
#else
/* nd_table_init()
* Version 2 of the nd_table_init() function.
* If called more than once, 2nd and any subsequent calls will
* be interpreted as a request to reserve an extra new_nd_count
* number of nodes. This will be done using realloc().
*/
static int nd_table_init(nd_table_t *ndt, int new_nd_count) {
int count;
/* initialise the node descriptor metadata array... */
ndt->node = realloc(ndt->node, sizeof(nd_entry_t) * (ndt->node_count + new_nd_count));
if (ndt->node == NULL) {
#ifdef ERRMSG
fprintf(stderr, ERRMSG_HEAD "Out of memory: error initializing node address buffer\n");
#endif
return -1;
}
/* initialise the state of each newly added node in the array... */
for (count = ndt->node_count; count < ndt->node_count + new_nd_count; count++) {
nd_entry_init(&ndt->node[count]);
} /* for() */
ndt->node_count += new_nd_count;
return new_nd_count; /* number of succesfully created nodes! */
}
#endif
static inline nd_entry_t *nd_table_get_nd(nd_table_t *ndt, int nd) {
if ((nd < 0) || (nd >= ndt->node_count))
return NULL;
return &ndt->node[nd];
}
static inline void nd_table_done(nd_table_t *ndt) {
int i;
if (ndt->node == NULL)
return;
/* close all the connections... */
for (i = 0; i < ndt->node_count; i++)
nd_entry_free(&ndt->node[i]);
/* Free memory... */
free(ndt->node);
*ndt = (nd_table_t){.node=NULL, .node_count=0};
}
static inline int nd_table_get_free_nd(nd_table_t *ndt) {
int count;
for (count = 0; count < ndt->node_count; count++) {
if (nd_entry_is_free(&ndt->node[count]))
return count;
}
/* none found... */
return -1;
}
static inline int nd_table_free_nd(nd_table_t *ndt, int nd) {
if ((nd < 0) || (nd >= ndt->node_count))
return -1;
return nd_entry_free(&ndt->node[nd]);
}
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Global Library State ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/* The node descriptor table... */
/* NOTE: This variable must be correctly initialised here!! */
static nd_table_t nd_table_ = {.node=NULL, .node_count=0};
/* The optimization choice... */
static optimization_t optimization_;
/* the crc function currently in use... */
/* This will depend on the optimisation choice... */
crc_func_t crc_calc = DEF_CRC_FUNCTION;
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** CRC functions ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
#if RTU_FRAME_CRC_LENGTH < 2
#error The CRC on modbus RTU frames requires at least 2 bytes in the frame length.
#endif
/************************************/
/** **/
/** Read the CRC of a frame **/
/** **/
/************************************/
/* NOTE: cnt is number of bytes in the frame _excluding_ CRC! */
static inline u16 crc_read(u8 *buf, int cnt) {
/* For some strange reason, the crc is transmited
* LSB first, unlike all other values...
*/
return (buf[cnt + 1] << 8) | buf[cnt];
}
/************************************/
/** **/
/** Write the CRC of a frame **/
/** **/
/************************************/
/* NOTE: cnt is number of bytes in the frame _excluding_ CRC! */
static inline void crc_write(u8 *buf, int cnt) {
/* For some strange reason, the crc is transmited
* LSB first, unlike all other values...
*
* u16_v(query[string_length]) = mb_hton(temp_crc); -> This is wrong !!
*/
/* NOTE: We have already checked above that RTU_FRAME_CRC_LENGTH is >= 2 */
u16 crc = crc_calc(buf, cnt);
buf[cnt] = lsb(crc);
buf[cnt+1] = msb(crc);
}
/************************************/
/** **/
/** A slow version of the **/
/** CRC function **/
/** **/
/************************************/
/* crc optimized for smallest memory footprint */
static u16 crc_slow(u8 *buf, int cnt)
{
int bit;
u16 temp,flag;
temp=0xFFFF;
while (cnt-- != 0) {
temp=temp ^ *buf++;
for (bit=1; bit<=8; bit++) {
flag = temp & 0x0001;
/* NOTE:
* - since temp is unsigned, we are guaranteed a zero in MSbit;
* - if it were signed, the value placed in the MSbit would be
* compiler dependent!
*/
temp >>= 1;
if (flag)
temp=temp ^ 0xA001;
}
}
return(temp);
}
/************************************/
/** **/
/** A fast version of the **/
/** CRC function **/
/** **/
/************************************/
static u8 *crc_fast_buf = NULL;
/* crc optimized for speed */
static u16 crc_fast(u8 *buf, int cnt)
{
/* NOTE: The following arrays have been replaced by an equivalent
* array (crc_fast_buf[]) initialised at run-time.
*/
/*
static u8 buf_lsb[] = {0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x00, 0xc1, 0x81, 0x40, 0x01, 0xc0, 0x80, 0x41,
0x01, 0xc0, 0x80, 0x41, 0x00, 0xc1, 0x81, 0x40
};
static u8 buf_msb[] = {0x00, 0xc0, 0xc1, 0x01, 0xc3, 0x03, 0x02, 0xc2,
0xc6, 0x06, 0x07, 0xc7, 0x05, 0xc5, 0xc4, 0x04,
0xcc, 0x0c, 0x0d, 0xcd, 0x0f, 0xcf, 0xce, 0x0e,
0x0a, 0xca, 0xcb, 0x0b, 0xc9, 0x09, 0x08, 0xc8,
0xd8, 0x18, 0x19, 0xd9, 0x1b, 0xdb, 0xda, 0x1a,
0x1e, 0xde, 0xdf, 0x1f, 0xdd, 0x1d, 0x1c, 0xdc,
0x14, 0xd4, 0xd5, 0x15, 0xd7, 0x17, 0x16, 0xd6,
0xd2, 0x12, 0x13, 0xd3, 0x11, 0xd1, 0xd0, 0x10,
0xf0, 0x30, 0x31, 0xf1, 0x33, 0xf3, 0xf2, 0x32,
0x36, 0xf6, 0xf7, 0x37, 0xf5, 0x35, 0x34, 0xf4,
0x3c, 0xfc, 0xfd, 0x3d, 0xff, 0x3f, 0x3e, 0xfe,
0xfa, 0x3a, 0x3b, 0xfb, 0x39, 0xf9, 0xf8, 0x38,
0x28, 0xe8, 0xe9, 0x29, 0xeb, 0x2b, 0x2a, 0xea,
0xee, 0x2e, 0x2f, 0xef, 0x2d, 0xed, 0xec, 0x2c,
0xe4, 0x24, 0x25, 0xe5, 0x27, 0xe7, 0xe6, 0x26,
0x22, 0xe2, 0xe3, 0x23, 0xe1, 0x21, 0x20, 0xe0,
0xa0, 0x60, 0x61, 0xa1, 0x63, 0xa3, 0xa2, 0x62,
0x66, 0xa6, 0xa7, 0x67, 0xa5, 0x65, 0x64, 0xa4,
0x6c, 0xac, 0xad, 0x6d, 0xaf, 0x6f, 0x6e, 0xae,
0xaa, 0x6a, 0x6b, 0xab, 0x69, 0xa9, 0xa8, 0x68,
0x78, 0xb8, 0xb9, 0x79, 0xbb, 0x7b, 0x7a, 0xba,
0xbe, 0x7e, 0x7f, 0xbf, 0x7d, 0xbd, 0xbc, 0x7c,
0xb4, 0x74, 0x75, 0xb5, 0x77, 0xb7, 0xb6, 0x76,
0x72, 0xb2, 0xb3, 0x73, 0xb1, 0x71, 0x70, 0xb0,
0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,
0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54,
0x9c, 0x5c, 0x5d, 0x9d, 0x5f, 0x9f, 0x9e, 0x5e,
0x5a, 0x9a, 0x9b, 0x5b, 0x99, 0x59, 0x58, 0x98,
0x88, 0x48, 0x49, 0x89, 0x4b, 0x8b, 0x8a, 0x4a,
0x4e, 0x8e, 0x8f, 0x4f, 0x8d, 0x4d, 0x4c, 0x8c,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86,
0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40
};
*/
u8 crc_msb = 0xFF;
u8 crc_lsb = 0xFF;
int index;
if (cnt <= 0) {
fprintf(stderr, "\nInternal program error in file %s at line %d\n\n\n", __FILE__, __LINE__);
exit(EXIT_FAILURE);
}
while (cnt-- != 0) {
index = 2 * (crc_lsb ^ *buf++);
crc_lsb = crc_msb ^ crc_fast_buf[index]/* buf_lsb[index/2] */;
crc_msb = crc_fast_buf[index + 1] /* buf_msb[index/2] */;
}
return crc_msb*0x0100 + crc_lsb;
}
/************************************/
/** **/
/** init() and done() functions **/
/** of fast CRC version **/
/** **/
/************************************/
static inline int crc_fast_init(void) {
int i;
u8 data[2];
u16 tmp_crc;
if ((crc_fast_buf = (u8 *)malloc(256 * 2)) == NULL)
return -1;
for (i = 0x00; i < 0x100; i++) {
data[0] = 0xFF;
data[1] = i;
data[1] = ~data[1];
tmp_crc = crc_slow(data, 2);
crc_fast_buf[2*i ] = lsb(tmp_crc);
crc_fast_buf[2*i + 1] = msb(tmp_crc);
}
return 0;
}
static inline void crc_fast_done(void) {
free(crc_fast_buf);
}
/************************************/
/** **/
/** init() and done() functions **/
/** of generic CRC **/
/** **/
/************************************/
static inline int crc_init(optimization_t opt) {
switch (opt) {
case optimize_speed:
if (crc_fast_init() < 0)
return -1;
crc_calc = crc_fast;
return 0;
case optimize_size :
crc_calc = crc_slow;
return 0;
default:
return -1;
}
/* humour the compiler */
return -1;
}
static inline int crc_done(void) {
if (crc_calc == crc_fast)
crc_fast_done();
crc_calc = DEF_CRC_FUNCTION;
return 0;
}
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Sending of Modbus RTU Frames ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/* W A R N I N G
* =============
* The modbus_rtu_write() function assumes that the caller
* has allocated a few bytes extra for the buffer containing
* the data. These bytes will be used to write the crc.
*
* The caller of this function MUST make sure that the data
* buffer, although only containing data_length bytes, has
* been allocated with a size equal to or larger than
* data_length + RTU_FRAME_CRC_LENGTH bytes
*
* I know, this is a very ugly hack, but we don't have much
* choice (please read other comments further on for more
* explanations)
*
* We will nevertheless try and make this explicit by having the
* library initialisation function (modbus_rtu_init() ) return a
* value specifying how many extra bytes this buffer should have.
* Maybe this way this very ugly hack won't go unnoticed, and we
* won't be having any segmentation faults...!
*
* NOTE: for now the transmit_timeout is silently ignored in RTU version!
*/
int modbus_rtu_write(int nd,
u8 *data,
size_t data_length,
u16 transaction_id,
const struct timespec *transmit_timeout
)
{
fd_set rfds;
struct timeval timeout;
int res, send_retries;
nd_entry_t *nd_entry;
#ifdef DEBUG
fprintf(stderr, "modbus_rtu_write(fd=%d) called...\n", nd);
#endif
/* check if nd is correct... */
if ((nd_entry = nd_table_get_nd(&nd_table_, nd)) == NULL)
return -1;
/* check if nd is initialzed... */
if (nd_entry->fd < 0)
return -1;
/**************************
* append crc to frame... *
**************************/
/* WARNING:
* The crc_write() function assumes that we have an extra
* RTU_FRAME_CRC_LENGTH free bytes at the end of the *data
* buffer.
* The caller of this function had better make sure he has
* allocated those extra bytes, or a segmentation fault will
* occur.
* Please read on why we leave this as it is...
*
* REASONS:
* We want to write the data and the crc in a single call to
* the OS. This is the only way we can minimally try to gurantee
* that we will not be introducing a silence of more than 1.5
* character transmission times between any two characters.
*
* We could do the above using one of two methods:
* (a) use a special writev() call in which the data
* to be sent is stored in two buffers (one for the
* data and the other for the crc).
* (b) place all the data in a single linear buffer and
* use the normal write() function.
*
* We cannot use (a) since the writev(2) function does not seem
* to be POSIX compliant...
* (b) has the drawback that we would need to allocate a new buffer,
* and copy all the data into that buffer. We have enough copying of
* data between buffers as it is, so we won't be doing it here
* yet again!
*
* The only option that seems left over is to have the caller
* of this function allocate a few extra bytes. Let's hope he
* does not forget!
*/
crc_write(data, data_length);
data_length += RTU_FRAME_CRC_LENGTH;
#ifdef DEBUG
/* Print the hex value of each character that is about to be
* sent over the bus.
*/
{ int i;
for(i = 0; i < data_length; i++)
fprintf(stderr, "[0x%2X]", data[i]);
fprintf(stderr, "\n");
}
#endif
/* THE MAIN LOOP!!! */
/* NOTE: The modbus standard specifies that the message must
* be sent continuosly over the wire with maximum
* inter-character delays of 1.5 character intervals.
*
* If the write() call is interrupted by a signal, then
* this delay will most probably be exceeded. We should then
* re-start writing the query from the begining.
*
* BUT, can we really expect the write() call to return
* query_length on every platform when no error occurs?
* The write call would still be correct if it only wrote
* 1 byte at a time!
*
* To protect ourselves getting into an infinte loop in the
* above cases, we specify a maximum number of retries, and
* hope for the best...! The worst will now be we simply do
* not get to send out a whole frame, and will therefore always
* fail on writing a modbus frame!
*/
send_retries = RTU_FRAME_SEND_RETRY + 1; /* must try at least once... */
while (send_retries > 0) {
/*******************************
* synchronise with the bus... *
*******************************/
/* Remember that a RS485 bus is half-duplex, so we have to wait until
* nobody is transmitting over the bus for our turn to transmit.
* This will never happen on a modbus network if the master and
* slave state machines never get out of synch (granted, it probably
* only has two states, but a state machine nonetheless), but we want
* to make sure we can re-synchronise if they ever do get out of synch.
*
* The following lines will guarantee that we will re-synchronise our
* state machine with the current state of the bus.
*
* We first wait until the bus has been silent for at least
* char_interval_timeout (i.e. 3.5 character interval). We then flush
* any input and output that might be on the cache.
*/
/* NOTES:
* - we do not need to reset the rfds with FD_SET(ttyfd, &rfds)
* before every call to select! We only wait on one file descriptor,
* so if select returns succesfully, it must have that same file
* decriptor set in the rdfs!
* If select returns with a timeout, then we do not get to call
* select again!
* - On Linux, timeout (i.e. timeout) is modified by select() to
* reflect the amount of time not slept; most other implementations
* do not do this. In the cases in which timeout is not modified,
* we will simply have to wait for longer periods if select is
* interrupted by a signal.
*/
FD_ZERO(&rfds);
FD_SET(nd_entry->fd, &rfds);
timeout = nd_entry->time_35_char_;
while ((res = select(nd_entry->fd+1, &rfds, NULL, NULL, &timeout)) != 0) {
if (res > 0) {
/* we are receiving data over the serial port! */
/* Throw the data away! */
tcflush(nd_entry->fd, TCIFLUSH); /* flush the input stream */
/* reset the timeout value! */
timeout = nd_entry->time_35_char_;
/* We do not need to reset the FD SET here! */
} else {
/* some kind of error ocurred */
if (errno != EINTR)
/* we were not interrupted by a signal */
return -1;
/* We will be calling select() again.
* We need to reset the FD SET !
*/
FD_ZERO(&rfds);
FD_SET(nd_entry->fd, &rfds);
}
} /* while (select()) */
/* Flush both input and output streams... */
/* NOTE: Due to the nature of the modbus protocol,
* when a frame is sent all previous
* frames that may have arrived at the sending node become
* irrelevant.
*/
tcflush(nd_entry->fd, TCIOFLUSH); /* flush the input & output streams */
recv_buf_reset(&nd_entry->recv_buf_); /* reset the recv buffer */
/**********************
* write to output... *
**********************/
/* Please see the comment just above the main loop!! */
if ((res = write(nd_entry->fd, data, data_length)) != data_length) {
if ((res < 0) && (errno != EAGAIN ) && (errno != EINTR ))
return -1;
} else {
/* query succesfully sent! */
/* res == query_length */
/* NOTE: We do not flush the input stream after sending the frame!
* If the process gets swapped out between the end of writing
* to the serial port, and the call to flush the input of the
* same serial port, the response to the modbus query may be
* sent over between those two calls. This would result in the
* tcflush(ttyfd, TCIFLUSH) call flushing out the response
* to the query we have just sent!
* Not a good thing at all... ;-)
*/
return data_length - RTU_FRAME_CRC_LENGTH;
}
/* NOTE: The maximum inter-character delay of 1.5 character times
* has most probably been exceeded, so we abort the frame and
* retry again...
*/
send_retries--;
} /* while() MAIN LOOP */
/* maximum retries exceeded */
return -1;
}
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Receiving Modbus RTU Frames ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
#if MIN_FRAME_LENGTH < 2
#error Modbus RTU frames have a minimum length larger than MIN_FRAME_LENGTH.
#endif
/************************************/
/** **/
/** Guess length of frame **/
/** being read. **/
/** **/
/************************************/
/* Auxiliary function to the search_for_frame() function.
*
* NOTE: data_byte_count must be >=2 for correct operation, therefore
* the #error condition above.
*
* Function to determine the length of the frame currently being read,
* assuming it is a query/response frame.
*
* The guess is obtained by analysing the bytes that have already been
* read. Sometimes we cannot be sure what is the frame length, because
* not enough bytes of the frame have been read yet (for example, frames
* that have a byte_count value which has not yet been read). In these
* cases we return not the frame length, but an error (-1).
*
* If we find the data does not make any sense (i.e. it cannot be a valid
* modbus frame), we return -1.
*/
static int frame_length(u8 *frame_data,
int frame_data_length,
/* The array containing the lengths of frames. */
/* - query_frame_length[]
* - response_frame_length[]
*/
i8 *frame_length_array) {
u8 function_code;
int res;
/* check consistency of input parameters... */
/*
if ((frame_data == NULL) || (frame_length_array == NULL) || (frame_data_length < 2))
return -1;
*/
function_code = frame_data[L2_FRAME_FUNCTION_OFS];
/* hard code the length of response to diagnostic function 8 (0x08), with
* subfunction 21 (0x15), and sub-sub-function (a.k.a. operation) 3 (0x03),
* which contains a byte count...
*/
if ((function_code == 0x08) && (frame_length_array == response_frame_lengths)) {
if (frame_data_length < 4) {
/* not enough info to determine the sub-function... */
return -1;
} else {
if ((frame_data[2] == 0x00) && (frame_data[3] == 0x15)) {
/* we need a couple more bytes to figure out the sub-sub-function... */
if (frame_data_length < 6) {
/* not enough info to determine the sub-sub-function... */
return -1;
} else {
if ((frame_data[4] == 0x00) && (frame_data[5] == 0x03)) {
/* We have found a response frame to diagnostic sub-function ... */
if (frame_data_length < 8) {
/* not enough info to determine the frame length */
return -1;
} else {
return /*HEADER*/ 6 + mb_ntoh(u16_v(frame_data[6])) + RTU_FRAME_CRC_LENGTH;
}
}
}
}
}
}
res = frame_length_array[function_code];
switch(res) {
case BYTE_COUNT_3 :
if (frame_data_length >= 3)
return BYTE_COUNT_3_HEADER + frame_data[2] + RTU_FRAME_CRC_LENGTH;
break;
case BYTE_COUNT_34:
if (frame_data_length >= 4)
return BYTE_COUNT_34_HEADER + mb_ntoh(u16_v(frame_data[2])) + RTU_FRAME_CRC_LENGTH;
break;
case BYTE_COUNT_7 :
if (frame_data_length >= 7)
return BYTE_COUNT_7_HEADER + frame_data[6] + RTU_FRAME_CRC_LENGTH;
break;
case BYTE_COUNT_11:
if (frame_data_length >= 11)
return BYTE_COUNT_11_HEADER + frame_data[10] + RTU_FRAME_CRC_LENGTH;
break;
case BYTE_COUNT_U :
return -1;
default:
return res + RTU_FRAME_CRC_LENGTH;
} /* switch() */
/* unknown frame length */
return -1;
}
/************************************/
/** **/
/** Search for a frame **/
/** **/
/************************************/
/* Search for a valid frame in the current data.
* If no valid frame is found, then we return -1.
*
* NOTE: Since frame verification is done by calculating the CRC, which is rather
* CPU intensive, and this function may be called several times with the same,
* data, we keep state regarding the result of previous invocations...
* That is the reason for the *search_history parameter!
*/
static int search_for_frame(u8 *frame_data,
int frame_data_length,
int *search_history) {
int query_length, resp_length;
u8 function_code;
/* *search_history flag will have or'ed of following values... */
#define SFF_HIST_NO_QUERY_FRAME 0x01
#define SFF_HIST_NO_RESPONSE_FRAME 0x02
#define SFF_HIST_NO_FRAME (SFF_HIST_NO_RESPONSE_FRAME + SFF_HIST_NO_QUERY_FRAME)
if ((*search_history == SFF_HIST_NO_FRAME) ||
(frame_data_length < MIN_FRAME_LENGTH) ||
(frame_data_length > MAX_RTU_FRAME_LENGTH))
return -1;
function_code = frame_data[L2_FRAME_FUNCTION_OFS];
/* check for exception frame... */
if ((function_code && 0x80) == 0x80) {
if (frame_data_length >= EXCEPTION_FRAME_LENGTH + RTU_FRAME_CRC_LENGTH) {
/* let's check CRC for valid frame. */
if ( crc_calc(frame_data, EXCEPTION_FRAME_LENGTH)
== crc_read(frame_data, EXCEPTION_FRAME_LENGTH))
return EXCEPTION_FRAME_LENGTH + RTU_FRAME_CRC_LENGTH;
else
/* We have checked the CRC, and it is not a valid frame! */
*search_history |= SFF_HIST_NO_FRAME;
}
return -1;
}
/* check for valid function code */
if ((function_code > MAX_FUNCTION_CODE) || (function_code < 1)) {
/* This is an invalid frame!!! */
*search_history |= SFF_HIST_NO_FRAME;
return -1;
}
/* let's guess the frame length */
query_length = resp_length = -1;
if ((*search_history & SFF_HIST_NO_QUERY_FRAME) == 0)
query_length = frame_length(frame_data, frame_data_length, query_frame_lengths);
if ((*search_history & SFF_HIST_NO_RESPONSE_FRAME) == 0)
resp_length = frame_length(frame_data, frame_data_length, response_frame_lengths);
/* let's check whether any of the lengths are valid...*/
/* If any of the guesses coincides with the available data length
* we check that length first...
*/
if ((frame_data_length == query_length) || (frame_data_length == resp_length)) {
if ( crc_calc(frame_data, frame_data_length - RTU_FRAME_CRC_LENGTH)
== crc_read(frame_data, frame_data_length - RTU_FRAME_CRC_LENGTH))
return frame_data_length;
/* nope, wrong guess...*/
if (frame_data_length == query_length)
*search_history |= SFF_HIST_NO_QUERY_FRAME;
if (frame_data_length == resp_length)
*search_history |= SFF_HIST_NO_RESPONSE_FRAME;
}
/* let's shoot for a query frame */
if ((*search_history & SFF_HIST_NO_QUERY_FRAME) == 0) {
if (query_length >= 0) {
if (frame_data_length >= query_length) {
/* let's check if we have a valid frame */
if ( crc_calc(frame_data, query_length - RTU_FRAME_CRC_LENGTH)
== crc_read(frame_data, query_length - RTU_FRAME_CRC_LENGTH))
return query_length;
else
/* We have checked the CRC, and it is not a valid frame! */
*search_history |= SFF_HIST_NO_QUERY_FRAME;
}
}
}
/* let's shoot for a response frame */
if ((*search_history & SFF_HIST_NO_RESPONSE_FRAME) == 0) {
if (resp_length >= 0) {
if (frame_data_length >= resp_length) {
/* let's check if we have a valid frame */
if ( crc_calc(frame_data, resp_length - RTU_FRAME_CRC_LENGTH)
== crc_read(frame_data, resp_length - RTU_FRAME_CRC_LENGTH))
return resp_length;
else
*search_history |= SFF_HIST_NO_RESPONSE_FRAME;
}
}
}
/* Could not find valid frame... */
return -1;
}
/************************************/
/** **/
/** Read a frame **/
/** **/
/************************************/
/* A small auxiliary function, just to make the code easier to read... */
static inline void next_frame_offset(recv_buf_t *buf, u8 *slave_id) {
buf->frame_search_history = 0;
lb_data_purge(&(buf->data_buf), 1 /* skip one byte */);
if (slave_id == NULL)
return;
/* keep ignoring bytes, until we find one == *slave_id,
* or no more bytes...
*/
while (lb_data_count(&(buf->data_buf)) != 0) {
if (*lb_data(&(buf->data_buf)) == *slave_id)
return;
lb_data_purge(&(buf->data_buf), 1 /* skip one byte */);
}
}
/* A small auxiliary function, just to make the code easier to read... */
static inline int return_frame(recv_buf_t *buf,
int frame_length,
u8 **recv_data_ptr) {
#ifdef DEBUG
fprintf(stderr, "\n" );
fprintf(stderr, "returning valid frame of %d bytes.\n", frame_length);
#endif
/* set the data pointer */
*recv_data_ptr = lb_data(&(buf->data_buf));
/* remove the frame bytes off the buffer */
lb_data_purge(&(buf->data_buf), frame_length);
/* reset the search_history flag */
buf->frame_search_history = 0;
/* if the buffer becomes empty, then reset boundary flag */
if (lb_data_count(&(buf->data_buf)) <= 0)
buf->found_frame_boundary = 0;
/* return the frame length, excluding CRC */
return frame_length - RTU_FRAME_CRC_LENGTH;
}
/* A function to read a valid frame off the rtu bus.
*
* NOTES:
* - The returned frame is guaranteed to be a valid frame.
* - The returned length does *not* include the CRC.
* - The returned frame is not guaranteed to have the same
* slave id as that stored in (*slave_id). This value is used
* merely in optimizing the search for wanted valid frames
* after reading an aborted frame. Only in this situation do
* we limit our search for frames with a slvae id == (*slave_id).
* Under normal circumstances, the value in (*slave_id) is
* simply ignored...
* If any valid frame is desired, then slave_id should be NULL.
*
*/
/* NOTE: We cannot relly on the 3.5 character interval between frames to detect
* end of frame. We are reading the bytes from a user process, so in
* essence the bytes we are reading are coming off a cache.
* Any inter-character delays between the arrival of the bytes are
* lost as soon as they were placed in the cache.
*
* Our only recourse is to analyse the frame we are reading in real-time,
* and check if it is a valid frame by checking it's CRC.
* To optimise this, we must be able to figure out the length
* of the frame currently being received by analysing the first bytes
* of that frame. Unfortunately, we have three problems with this:
* 1) The spec does not specify the format of every possible modbus
* frame. For ex.functions 9, 10, 13, 14, 18 and 19(?).
* 2) It is not possible to figure out whether a frame is a query
* or a response by just analysing the frame, and query and response
* frames have different sizes...
* 3) A frame may be aborted in the middle! We have no easy way of telling
* if what we are reading is a partial (aborted) frame, followed by a
* correct frame.
* Possible solutions to:
* 1) We could try to reverse engineer, but at the moment I have no
* PLCs that will generate the required frames.
* The chosen method is to verify the CRC if we are lucky enough to
* detect the 3.5 frame boundary imediately following one of these
* frames of unknown length.
* If we do not detect any frame boundary, then our only option
* is to consider it an aborted frame.
* 2) We aim for the query frame (usually the shortest), and check
* it's CRC. If it matches, we accept, the frame, otherwise we try
* a response frame.
* 3) The only way is to consider a frame boundary after each byte,
* (i.e. ignore one bye at a time) and verify if the following bytes
* constitue a valid frame (by checking the CRC).
*
* When reading an aborted frame followed by two or more valid frames, if
* we are unlucky and do not detetect any frame boundary using the 3.5
* character interval, then we will most likely be reading in bytes
* beyond the first valid frame. This means we will have to store the extra
* bytes we have already read, so they may be handled the next time the
* read_frame() function is called.
*/
/*
* NOTE: The modbus RTU spec is inconsistent on how to handle
* inter-character delays larger than 1.5 characters.
* - On one paragraph it is stated that any delay larger than
* 1.5 character times aborts the current frame, and a new
* frame is started.
* - On another paragraph it is stated that a frame must begin
* with a silence of 3.5 character times.
*
* We will therefore consider that any delay larger than 1.5 character
* times terminates a valid frame. All the above references to the 3.5 character
* interval should therefore be read as a 1.5 character interval.
*/
/* NOTE: This function is only called from one place in the rest of the code,
* so we might just as well make it inline...
*/
/* RETURNS: number of bytes in received frame
* -1 on read file error
* -2 on timeout
*/
static inline int read_frame(nd_entry_t *nd_entry,
u8 **recv_data_ptr,
struct timespec *end_time,
u8 *slave_id)
{
/* temporary variables... */
fd_set rfds;
struct timeval timeout;
int res, read_stat;
int frame_length;
recv_buf_t *recv_buf = &nd_entry->recv_buf_;
/* Flag:
* 1 => we are reading in an aborted frame, so we must
* start ignoring bytes...
*/
int found_aborted_frame;
/* assume error... */
*recv_data_ptr = NULL;
/*===================================*
* Check for frame in left over data *
*===================================*/
/* If we have any data left over from previous call to read_frame()
* (i.e. this very same function), then we try to interpret that
* data, and do not wait for any extra bytes...
*/
frame_length = search_for_frame(lb_data(&recv_buf->data_buf),
lb_data_count(&recv_buf->data_buf),
&recv_buf->frame_search_history);
if (frame_length > 0)
/* We found a valid frame! */
return return_frame(recv_buf, frame_length, recv_data_ptr);
/* If the left over data finished at a frame boundary, and since it
* doesn't contain any valid frame, we discard those bytes...
*/
if (recv_buf->found_frame_boundary == 1)
recv_buf_reset(recv_buf);
/*============================*
* wait for data availability *
*============================*/
/* if we can't find a valid frame in the existing data, or no data
* was left over, then we need to read more bytes!
*/
FD_ZERO(&rfds);
FD_SET(nd_entry->fd, &rfds);
{int sel_res = my_select(nd_entry->fd + 1, &rfds, NULL, end_time);
if (sel_res < 0)
return -1;
if (sel_res == 0)
return -2;
}
/*==============*
* read a frame *
*==============*/
/* The main loop that reads one frame */
/* (multiple calls to read() ) */
/* and jumps out as soon as it finds a valid frame. */
found_aborted_frame = 0;
FD_ZERO(&rfds);
FD_SET(nd_entry->fd, &rfds);
while (1) {
/*------------------*
* read frame bytes *
*------------------*/
/* Read in as many bytes as possible...
* But only if we have not found a frame boundary. Once we find
* a frame boundary, we do not want to read in any more bytes
* and mix them up with the current frame's bytes.
*/
if (recv_buf->found_frame_boundary == 0) {
read_stat = read(nd_entry->fd,
lb_free(&recv_buf->data_buf),
lb_free_count(&recv_buf->data_buf));
if (read_stat < 0) {
if (errno != EINTR)
return -1;
else
read_stat = 0;
}
#ifdef DEBUG
{/* display the hex code of each character received */
int i;
fprintf(stderr, "-");
for (i=0; i < read_stat; i++)
fprintf(stderr, "<0x%2X>", *(lb_free(&recv_buf->data_buf) + i));
}
#endif
lb_data_add(&recv_buf->data_buf, read_stat);
}
/*-----------------------*
* check for valid frame *
*-----------------------*/
frame_length = search_for_frame(lb_data(&recv_buf->data_buf),
lb_data_count(&recv_buf->data_buf),
&recv_buf->frame_search_history);
if (frame_length > 0)
/* We found a valid frame! */
return return_frame(recv_buf, frame_length, recv_data_ptr);
/* if we reach this point, we are sure we do not have valid frame
* of known length in the current data with the current offset...
*/
/*---------------------------------*
* Have we found an aborted frame? *
*---------------------------------*/
if (lb_data_count(&recv_buf->data_buf) >= MAX_RTU_FRAME_LENGTH)
found_aborted_frame = 1;
/*---------------------------------*
* Must we try a new frame_offset? *
*---------------------------------*/
if (found_aborted_frame == 1) {
/* Note that the found_aborted_frame flag is only set if:
* 1 - we have previously detected a frame_boundary,
* (i.e. found_frame_boundary is == 1 !!) so we won't be
* reading in more bytes;
* 2 - we have read more bytes than the maximum frame length
*
* Considering we have just failed finding a valid frame, and the above
* points (1) and (2), then there is no way we are still going to
* find a valid frame in the current data.
* We must therefore try a new first byte for the frame...
*/
next_frame_offset(recv_buf, slave_id);
}
/*-----------------------------*
* check for data availability *
*-----------------------------*/
if (recv_buf->found_frame_boundary == 0) {
/* We need more bytes!! */
/*
* if no character at the buffer, then we wait time_15_char_
* before accepting end of frame
*/
/* NOTES:
* - On Linux, timeout is modified by select() to reflect
* the amount of time not slept; most other implementations do
* not do this. On those platforms we will simply have to wait
* longer than we wished if select() is by any chance interrupted
* by a signal...
*/
timeout = nd_entry->time_15_char_;
while ((res = select(nd_entry->fd+1, &rfds, NULL, NULL, &timeout)) < 0) {
if (errno != EINTR)
return -1;
/* We will be calling select() again.
* We need to reset the FD SET !
*/
FD_ZERO(&rfds);
FD_SET(nd_entry->fd, &rfds);
}
if (res == 0) {
int frame_length = lb_data_count(&recv_buf->data_buf);
/* We have detected an end of frame using timing boundaries... */
recv_buf->found_frame_boundary = 1; /* => stop trying to read any more bytes! */
/* Let's check if we happen to have a correct frame... */
if ((frame_length <= MAX_RTU_FRAME_LENGTH) &&
(frame_length - RTU_FRAME_CRC_LENGTH > 0)) {
if ( crc_calc(lb_data(&recv_buf->data_buf), frame_length - RTU_FRAME_CRC_LENGTH)
== crc_read(lb_data(&recv_buf->data_buf), frame_length - RTU_FRAME_CRC_LENGTH)) {
/* We have found a valid frame. Let's get out of here! */
return return_frame(recv_buf, frame_length, recv_data_ptr);
}
}
/* We have detected a frame boundary, but the frame we read
* is not valid...
*
* One of the following reasons must be the cause:
* 1 - we are reading a single aborted frame.
* 2 - we are reading more than one frame. The first frame,
* followed by any number of valid and/or aborted frames,
* may be one of:
* a - a valid frame whose length is unknown to us,
* i.e. it is not specified in the public Modbus spec.
* b - an aborted frame.
*
* Due to the complexity of reading 2a as a correct frame, we will
* consider it as an aborted frame. (NOTE: it is possible, but
* we will ignore it until the need arises... hopefully, never!)
*
* To put it succintly, what wee now have is an 'aborted' frame
* followed by one or more aborted and/or valid frames. To get to
* any valid frames, and since we do not know where they begin,
* we will have to consider every byte as the possible begining
* of a valid frame. For this permutation, we ignore the first byte,
* and carry on from there...
*/
found_aborted_frame = 1;
lb_data_purge(&recv_buf->data_buf, 1 /* skip one byte */);
recv_buf->frame_search_history = 0;
}
}
/*-------------------------------*
* check for data yet to process *
*-------------------------------*/
if ((lb_data_count(&recv_buf->data_buf) < MIN_FRAME_LENGTH) &&
(recv_buf->found_frame_boundary == 1)) {
/* We have no more data to process, and will not read anymore! */
recv_buf_reset(recv_buf);
/* Return TIMEOUT error */
return -2;
}
} /* while (1)*/
/* humour the compiler... */
return -1;
}
/************************************/
/** **/
/** Read a Modbus RTU frame **/
/** **/
/************************************/
/* The public function that reads a valid modbus frame.
*
* The returned frame is guaranteed to be different to the
* the frame stored in send_data, and to start with the
* same slave address stored in send_data[0].
*
* If send_data is NULL, send_data_length = 0, or
* ignore_echo == 0, then the first valid frame read off
* the bus is returned.
*
* return value: The length (in bytes) of the valid frame,
* -1 on error
* -2 on timeout
*/
int modbus_rtu_read(int *nd,
u8 **recv_data_ptr,
u16 *transaction_id,
const u8 *send_data,
int send_length,
const struct timespec *recv_timeout) {
struct timespec end_time, *ts_ptr;
int res, recv_length, iter;
u8 *local_recv_data_ptr;
u8 *slave_id, local_slave_id;
nd_entry_t *nd_entry;
/* Check input parameters... */
if (nd == NULL)
return -1;
if (recv_data_ptr == NULL)
recv_data_ptr = &local_recv_data_ptr;
if ((send_data == NULL) && (send_length != 0))
return -1;
/* check if nd is correct... */
if ((nd_entry = nd_table_get_nd(&nd_table_, *nd)) == NULL)
return -1;
/* check if nd is initialzed... */
if (nd_entry->fd < 0)
return -1;
slave_id = NULL;
if (send_length > L2_FRAME_SLAVEID_OFS) {
local_slave_id = send_data[L2_FRAME_SLAVEID_OFS];
slave_id = &local_slave_id;
}
/* We will potentially read many frames, and we cannot reset the timeout
* for every frame we read. We therefore determine the absolute time_out,
* and use this as a parameter for each call to read_frame() instead of
* using a relative timeout.
*
* NOTE: see also the timeout related comment in the read_frame()= function!
*/
/* get the current time... */
ts_ptr = NULL;
if (recv_timeout != NULL) {
ts_ptr = &end_time;
*ts_ptr = timespec_add_curtime(*recv_timeout);
}
/* NOTE: When using a half-duplex RS-485 bus, some (most ?) RS232-485
* converters will send back to the RS232 port whatever we write,
* so we will read in whatever we write out onto the bus.
* We will therefore have to compare
* the first frame we read with the one we sent. If they are
* identical it is because we are in fact working on a RS-485
* bus and must therefore read in a second frame which will be
* the true response to our query.
* If the first frame we receive is different to the query we
* just sent, then we are *not* working on a RS-485 bus, and
* that is already the real response to our query.
*
* Flushing the input cache immediately after sending the query
* could solve this issue, but we have no guarantee that this
* process would not get swapped out between the write() and
* flush() calls, and we could therefore be flushing the response
* frame!
*/
iter = 0;
while ((res = recv_length = read_frame(nd_entry, recv_data_ptr, ts_ptr, slave_id)) >= 0) {
if (iter < INT_MAX) iter++;
if ((send_length <= 0) || (nd_entry->ignore_echo == 0))
/* any valid frame will do... */
return recv_length;
if ((send_length > L2_FRAME_SLAVEID_OFS + 1) && (iter == 1))
/* We have a frame in send_data,
* so we must make sure we are not reading in the frame just sent...
*
* We must only do this for the first frame we read. Subsequent
* frames are guaranteed not to be the previously sent frame
* since the modbus_rtu_write() resets the recv buffer.
* Remember too that valid modbus responses may be exactly the same
* as the request frame!!
*/
if (recv_length == send_length)
if (memcmp(*recv_data_ptr, send_data, recv_length) == 0)
/* recv == send !!! */
/* read in another frame. */
continue;
/* The frame read is either:
* - different to the frame in send_data
* - or there is only the slave id in send_data[0]
* - or both of the above...
*/
if (send_length > L2_FRAME_SLAVEID_OFS)
if (recv_length > L2_FRAME_SLAVEID_OFS)
/* check that frame is from/to the correct slave... */
if ((*recv_data_ptr)[L2_FRAME_SLAVEID_OFS] == send_data[L2_FRAME_SLAVEID_OFS])
/* yep, it is... */
return recv_length;
/* The frame we have received is not acceptable...
* Let's read a new frame.
*/
} /* while(...) */
/* error reading response! */
/* Return the error returned by read_frame! */
return res;
}
/**************************************************************/
/**************************************************************/
/**** ****/
/**** ****/
/**** Initialising and Shutting Down Library ****/
/**** ****/
/**** ****/
/**************************************************************/
/**************************************************************/
/******************************/
/** **/
/** Load Default Values **/
/** **/
/******************************/
static void set_defaults(int *baud,
int *parity,
int *data_bits,
int *stop_bits) {
/* Set the default values, if required... */
if (*baud == 0)
*baud = DEF_BAUD_RATE;
if (*data_bits == 0)
*data_bits = DEF_DATA_BITS;
if (*stop_bits == 0) {
if (*parity == 0)
*stop_bits = DEF_STOP_BITS_NOP; /* no parity */
else
*stop_bits = DEF_STOP_BITS_PAR; /* parity used */
}
}
/******************************/
/** **/
/** Initialise Library **/
/** **/
/******************************/
int modbus_rtu_init(int nd_count,
optimization_t opt,
int *extra_bytes)
{
#ifdef DEBUG
fprintf(stderr, "modbus_rtu_init(): called...\n");
fprintf(stderr, "creating %d node descriptors\n", nd_count);
if (opt == optimize_speed)
fprintf(stderr, "optimizing for speed\n");
if (opt == optimize_size)
fprintf(stderr, "optimizing for size\n");
#endif
/* check input parameters...*/
if (0 == nd_count) {
if (extra_bytes != NULL)
// Not the corect value for this layer.
// What we set it to in case this layer is not used!
*extra_bytes = 0;
return 0;
}
if (nd_count <= 0)
goto error_exit_0;
if (extra_bytes == NULL)
goto error_exit_0;
if (crc_init(opt) < 0) {
#ifdef ERRMSG
fprintf(stderr, ERRMSG_HEAD "Out of memory: error initializing crc buffers\n");
#endif
goto error_exit_0;
}
/* set the extra_bytes value... */
/* Please see note before the modbus_rtu_write() function for a
* better understanding of this extremely ugly hack...
*
* The number of extra bytes that must be allocated to the data buffer
* before calling modbus_rtu_write()
*/
*extra_bytes = RTU_FRAME_CRC_LENGTH;
/* initialise nd table... */
if (nd_table_init(&nd_table_, nd_count) < 0)
goto error_exit_0;
/* remember the optimization choice for later reference... */
optimization_ = opt;
#ifdef DEBUG
fprintf(stderr, "modbus_rtu_init(): returning succesfuly...\n");
#endif
return 0;
error_exit_0:
if (extra_bytes != NULL)
// Not the corect value for this layer.
// What we set it to in case of error!
*extra_bytes = 0;
return -1;
}
/******************************/
/** **/
/** Open node descriptor **/
/** **/
/******************************/
/* Open a node for master or slave operation.
* Returns the node descriptor, or -1 on error.
*
* This function is mapped onto both
* modbus_connect() and modbus_listen()
*/
int modbus_rtu_connect(node_addr_t node_addr) {
int node_descriptor;
nd_entry_t *nd_entry;
#ifdef DEBUG
fprintf(stderr, "modbus_rtu_connect(): called...\n");
fprintf(stderr, "opening %s\n", node_addr.addr.rtu.device);
fprintf(stderr, "baud_rate = %d\n", node_addr.addr.rtu.baud);
fprintf(stderr, "parity = %d\n", node_addr.addr.rtu.parity);
fprintf(stderr, "data_bits = %d\n", node_addr.addr.rtu.data_bits);
fprintf(stderr, "stop_bits = %d\n", node_addr.addr.rtu.stop_bits);
fprintf(stderr, "ignore_echo = %d\n", node_addr.addr.rtu.ignore_echo);
#endif
/* Check for valid address family */
if (node_addr.naf != naf_rtu)
/* wrong address type... */
goto error_exit_0;
/* find a free node descriptor */
if ((node_descriptor = nd_table_get_free_nd(&nd_table_)) < 0)
/* if no free nodes to initialize, then we are finished... */
goto error_exit_0;
if ((nd_entry = nd_table_get_nd(&nd_table_, node_descriptor)) == NULL)
/* strange, this should not occur... */
goto error_exit_0;
/* set the default values... */
set_defaults(&(node_addr.addr.rtu.baud),
&(node_addr.addr.rtu.parity),
&(node_addr.addr.rtu.data_bits),
&(node_addr.addr.rtu.stop_bits));
#ifdef DEBUG
fprintf(stderr, "modbus_rtu_connect(): calling nd_entry_connect()\n");
#endif
if (nd_entry_connect(nd_entry, &node_addr, optimization_) < 0)
goto error_exit_0;
#ifdef DEBUG
fprintf(stderr, "modbus_rtu_connect(): %s open\n", node_addr.addr.rtu.device);
fprintf(stderr, "modbus_rtu_connect(): returning nd=%d\n", node_descriptor);
#endif
return node_descriptor;
error_exit_0:
#ifdef DEBUG
fprintf(stderr, "modbus_rtu_connect(): error!\n");
#endif
return -1;
}
int modbus_rtu_listen(node_addr_t node_addr) {
return modbus_rtu_connect(node_addr);
}
/******************************/
/** **/
/** Close node descriptor **/
/** **/
/******************************/
int modbus_rtu_close(int nd) {
return nd_table_free_nd(&nd_table_, nd);
}
/******************************/
/** **/
/** Shutdown Library **/
/** **/
/******************************/
int modbus_rtu_done(void) {
nd_table_done(&nd_table_);
crc_done();
return 0;
}
/******************************/
/** **/
/** **/
/** **/
/******************************/
int modbus_rtu_silence_init(void) {
return 0;
}
/******************************/
/** **/
/** **/
/** **/
/******************************/
double modbus_rtu_get_min_timeout(int baud,
int parity,
int data_bits,
int stop_bits) {
int parity_bits, start_bits, char_bits;
set_defaults(&baud, &parity, &data_bits, &stop_bits);
parity_bits = (parity == 0)?0:1;
start_bits = 1;
char_bits = start_bits + data_bits + parity_bits + stop_bits;
return (double)((MAX_RTU_FRAME_LENGTH * char_bits) / baud);
}