295 lines
11 KiB
C
295 lines
11 KiB
C
|
/*
|
||
|
|
* FreeModbus Libary: ESP32 Port Demo Application
|
||
|
|
* Copyright (C) 2010 Christian Walter <cwalter@embedded-solutions.at>
|
||
|
|
*
|
||
|
|
*
|
||
|
|
* Redistribution and use in source and binary forms, with or without
|
||
|
|
* modification, are permitted provided that the following conditions
|
||
|
|
* are met:
|
||
|
|
* 1. Redistributions of source code must retain the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer.
|
||
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer in the
|
||
|
|
* documentation and/or other materials provided with the distribution.
|
||
|
|
* 3. The name of the author may not be used to endorse or promote products
|
||
|
|
* derived from this software without specific prior written permission.
|
||
|
|
*
|
||
|
|
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
|
||
|
|
* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
|
||
|
|
* IF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
|
||
|
|
* IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
|
||
|
|
* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||
|
|
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||
|
|
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
|
||
|
|
* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*
|
||
|
|
* File: $Id: portother.c,v 1.1 2010/06/06 13:07:20 wolti Exp $
|
||
|
|
*/
|
||
|
|
#include "port.h"
|
||
|
|
#include "driver/uart.h"
|
||
|
|
#include "freertos/queue.h" // for queue support
|
||
|
|
#include "soc/uart_reg.h"
|
||
|
|
#include "driver/gpio.h"
|
||
|
|
#include "esp_log.h" // for esp_log
|
||
|
|
#include "esp_err.h" // for ESP_ERROR_CHECK macro
|
||
|
|
|
||
|
|
/* ----------------------- Modbus includes ----------------------------------*/
|
||
|
|
#include "mb.h"
|
||
|
|
#include "mbport.h"
|
||
|
|
#include "sdkconfig.h" // for KConfig options
|
||
|
|
|
||
|
|
// Definitions of UART default pin numbers
|
||
|
|
#define MB_UART_RXD (CONFIG_MB_UART_RXD)
|
||
|
|
#define MB_UART_TXD (CONFIG_MB_UART_TXD)
|
||
|
|
#define MB_UART_RTS (CONFIG_MB_UART_RTS)
|
||
|
|
|
||
|
|
#define MB_BAUD_RATE_DEFAULT (115200)
|
||
|
|
#define MB_QUEUE_LENGTH (CONFIG_MB_QUEUE_LENGTH)
|
||
|
|
|
||
|
|
#define MB_SERIAL_TASK_PRIO (CONFIG_MB_SERIAL_TASK_PRIO)
|
||
|
|
#define MB_SERIAL_TASK_STACK_SIZE (CONFIG_MB_SERIAL_TASK_STACK_SIZE)
|
||
|
|
#define MB_SERIAL_TOUT (3) // 3.5*8 = 28 ticks, TOUT=3 -> ~24..33 ticks
|
||
|
|
|
||
|
|
// Set buffer size for transmission
|
||
|
|
#define MB_SERIAL_BUF_SIZE (CONFIG_MB_SERIAL_BUF_SIZE)
|
||
|
|
|
||
|
|
// Note: This code uses mixed coding standard from legacy IDF code and used freemodbus stack
|
||
|
|
|
||
|
|
// A queue to handle UART event.
|
||
|
|
static QueueHandle_t xMbUartQueue;
|
||
|
|
static TaskHandle_t xMbTaskHandle;
|
||
|
|
static const CHAR *TAG = "MB_SERIAL";
|
||
|
|
|
||
|
|
// The UART hardware port number
|
||
|
|
static UCHAR ucUartNumber = UART_NUM_2;
|
||
|
|
|
||
|
|
static BOOL bRxStateEnabled = FALSE; // Receiver enabled flag
|
||
|
|
static BOOL bTxStateEnabled = FALSE; // Transmitter enabled flag
|
||
|
|
|
||
|
|
static UCHAR ucBuffer[MB_SERIAL_BUF_SIZE]; // Temporary buffer to transfer received data to modbus stack
|
||
|
|
static USHORT uiRxBufferPos = 0; // position in the receiver buffer
|
||
|
|
|
||
|
|
void vMBPortSerialEnable(BOOL bRxEnable, BOOL bTxEnable)
|
||
|
|
{
|
||
|
|
// This function can be called from xMBRTUTransmitFSM() of different task
|
||
|
|
ENTER_CRITICAL_SECTION();
|
||
|
|
if (bRxEnable) {
|
||
|
|
//uart_enable_rx_intr(ucUartNumber);
|
||
|
|
bRxStateEnabled = TRUE;
|
||
|
|
vTaskResume(xMbTaskHandle); // Resume receiver task
|
||
|
|
} else {
|
||
|
|
vTaskSuspend(xMbTaskHandle); // Block receiver task
|
||
|
|
bRxStateEnabled = FALSE;
|
||
|
|
}
|
||
|
|
if (bTxEnable) {
|
||
|
|
bTxStateEnabled = TRUE;
|
||
|
|
} else {
|
||
|
|
bTxStateEnabled = FALSE;
|
||
|
|
}
|
||
|
|
EXIT_CRITICAL_SECTION();
|
||
|
|
}
|
||
|
|
|
||
|
|
static void vMBPortSerialRxPoll(size_t xEventSize)
|
||
|
|
{
|
||
|
|
USHORT usLength;
|
||
|
|
|
||
|
|
if (bRxStateEnabled) {
|
||
|
|
if (xEventSize > 0) {
|
||
|
|
xEventSize = (xEventSize > MB_SERIAL_BUF_SIZE) ? MB_SERIAL_BUF_SIZE : xEventSize;
|
||
|
|
uiRxBufferPos = ((uiRxBufferPos + xEventSize) >= MB_SERIAL_BUF_SIZE) ? 0 : uiRxBufferPos;
|
||
|
|
// Get received packet into Rx buffer
|
||
|
|
usLength = uart_read_bytes(ucUartNumber, &ucBuffer[uiRxBufferPos], xEventSize, portMAX_DELAY);
|
||
|
|
for(USHORT usCnt = 0; usCnt < usLength; usCnt++ ) {
|
||
|
|
// Call the Modbus stack callback function and let it fill the buffers.
|
||
|
|
( void )pxMBFrameCBByteReceived(); // calls callback xMBRTUReceiveFSM() to execute MB state machine
|
||
|
|
}
|
||
|
|
// The buffer is transferred into Modbus stack and is not needed here any more
|
||
|
|
uart_flush_input(ucUartNumber);
|
||
|
|
// Send event EV_FRAME_RECEIVED to allow stack process packet
|
||
|
|
#ifndef MB_TIMER_PORT_ENABLED
|
||
|
|
// Let the stack know that T3.5 time is expired and data is received
|
||
|
|
(void)pxMBPortCBTimerExpired(); // calls callback xMBRTUTimerT35Expired();
|
||
|
|
#endif
|
||
|
|
ESP_LOGD(TAG, "RX_T35_timeout: %d(bytes in buffer)\n", (uint32_t)usLength);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
BOOL xMBPortSerialTxPoll()
|
||
|
|
{
|
||
|
|
BOOL bStatus = FALSE;
|
||
|
|
USHORT usCount = 0;
|
||
|
|
BOOL bNeedPoll = FALSE;
|
||
|
|
|
||
|
|
if( bTxStateEnabled ) {
|
||
|
|
// Continue while all response bytes put in buffer or out of buffer
|
||
|
|
while((bNeedPoll == FALSE) && (usCount++ < MB_SERIAL_BUF_SIZE)) {
|
||
|
|
// Calls the modbus stack callback function to let it fill the UART transmit buffer.
|
||
|
|
bNeedPoll = pxMBFrameCBTransmitterEmpty( ); // calls callback xMBRTUTransmitFSM();
|
||
|
|
}
|
||
|
|
ESP_LOGD(TAG, "MB_TX_buffer sent: (%d) bytes\n", (uint16_t)usCount);
|
||
|
|
bStatus = TRUE;
|
||
|
|
}
|
||
|
|
return bStatus;
|
||
|
|
}
|
||
|
|
|
||
|
|
static void vUartTask(void *pvParameters)
|
||
|
|
{
|
||
|
|
uart_event_t xEvent;
|
||
|
|
for(;;) {
|
||
|
|
if (xQueueReceive(xMbUartQueue, (void*)&xEvent, portMAX_DELAY) == pdTRUE) {
|
||
|
|
ESP_LOGD(TAG, "MB_uart[%d] event:", ucUartNumber);
|
||
|
|
//vMBPortTimersEnable();
|
||
|
|
switch(xEvent.type) {
|
||
|
|
//Event of UART receving data
|
||
|
|
case UART_DATA:
|
||
|
|
ESP_LOGD(TAG,"Receive data, len: %d", xEvent.size);
|
||
|
|
// Read received data and send it to modbus stack
|
||
|
|
vMBPortSerialRxPoll(xEvent.size);
|
||
|
|
break;
|
||
|
|
//Event of HW FIFO overflow detected
|
||
|
|
case UART_FIFO_OVF:
|
||
|
|
ESP_LOGD(TAG, "hw fifo overflow\n");
|
||
|
|
xQueueReset(xMbUartQueue);
|
||
|
|
break;
|
||
|
|
//Event of UART ring buffer full
|
||
|
|
case UART_BUFFER_FULL:
|
||
|
|
ESP_LOGD(TAG, "ring buffer full\n");
|
||
|
|
xQueueReset(xMbUartQueue);
|
||
|
|
uart_flush_input(ucUartNumber);
|
||
|
|
break;
|
||
|
|
//Event of UART RX break detected
|
||
|
|
case UART_BREAK:
|
||
|
|
ESP_LOGD(TAG, "uart rx break\n");
|
||
|
|
break;
|
||
|
|
//Event of UART parity check error
|
||
|
|
case UART_PARITY_ERR:
|
||
|
|
ESP_LOGD(TAG, "uart parity error\n");
|
||
|
|
break;
|
||
|
|
//Event of UART frame error
|
||
|
|
case UART_FRAME_ERR:
|
||
|
|
ESP_LOGD(TAG, "uart frame error\n");
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
ESP_LOGD(TAG, "uart event type: %d\n", xEvent.type);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
vTaskDelete(NULL);
|
||
|
|
}
|
||
|
|
|
||
|
|
BOOL xMBPortSerialInit(UCHAR ucPORT, ULONG ulBaudRate,
|
||
|
|
UCHAR ucDataBits, eMBParity eParity)
|
||
|
|
{
|
||
|
|
esp_err_t xErr = ESP_OK;
|
||
|
|
MB_PORT_CHECK((eParity <= MB_PAR_EVEN), FALSE, "mb serial set parity failure.");
|
||
|
|
// Set communication port number
|
||
|
|
ucUartNumber = ucPORT;
|
||
|
|
// Configure serial communication parameters
|
||
|
|
UCHAR ucParity = UART_PARITY_DISABLE;
|
||
|
|
UCHAR ucData = UART_DATA_8_BITS;
|
||
|
|
switch(eParity){
|
||
|
|
case MB_PAR_NONE:
|
||
|
|
ucParity = UART_PARITY_DISABLE;
|
||
|
|
break;
|
||
|
|
case MB_PAR_ODD:
|
||
|
|
ucParity = UART_PARITY_ODD;
|
||
|
|
break;
|
||
|
|
case MB_PAR_EVEN:
|
||
|
|
ucParity = UART_PARITY_EVEN;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
switch(ucDataBits){
|
||
|
|
case 5:
|
||
|
|
ucData = UART_DATA_5_BITS;
|
||
|
|
break;
|
||
|
|
case 6:
|
||
|
|
ucData = UART_DATA_6_BITS;
|
||
|
|
break;
|
||
|
|
case 7:
|
||
|
|
ucData = UART_DATA_7_BITS;
|
||
|
|
break;
|
||
|
|
case 8:
|
||
|
|
ucData = UART_DATA_8_BITS;
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
ucData = UART_DATA_8_BITS;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
uart_config_t xUartConfig = {
|
||
|
|
.baud_rate = ulBaudRate,
|
||
|
|
.data_bits = ucData,
|
||
|
|
.parity = ucParity,
|
||
|
|
.stop_bits = UART_STOP_BITS_1,
|
||
|
|
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
|
||
|
|
.rx_flow_ctrl_thresh = 2,
|
||
|
|
};
|
||
|
|
// Set UART config
|
||
|
|
xErr = uart_param_config(ucUartNumber, &xUartConfig);
|
||
|
|
MB_PORT_CHECK((xErr == ESP_OK),
|
||
|
|
FALSE, "mb config failure, uart_param_config() returned (0x%x).", (uint32_t)xErr);
|
||
|
|
// Set UART pin numbers
|
||
|
|
xErr = uart_set_pin(ucUartNumber, MB_UART_TXD, MB_UART_RXD, MB_UART_RTS, UART_PIN_NO_CHANGE);
|
||
|
|
MB_PORT_CHECK((xErr == ESP_OK), FALSE,
|
||
|
|
"mb set pin failure, uart_set_pin() returned (0x%x).", (uint32_t)xErr);
|
||
|
|
// Install UART driver, and get the queue.
|
||
|
|
xErr = uart_driver_install(ucUartNumber, MB_SERIAL_BUF_SIZE, MB_SERIAL_BUF_SIZE,
|
||
|
|
MB_QUEUE_LENGTH, &xMbUartQueue, ESP_INTR_FLAG_LOWMED);
|
||
|
|
MB_PORT_CHECK((xErr == ESP_OK), FALSE,
|
||
|
|
"mb serial driver failure, uart_driver_install() returned (0x%x).", (uint32_t)xErr);
|
||
|
|
// Set driver mode to Half Duplex
|
||
|
|
xErr = uart_set_mode(ucUartNumber, UART_MODE_RS485_HALF_DUPLEX);
|
||
|
|
MB_PORT_CHECK((xErr == ESP_OK), FALSE,
|
||
|
|
"mb serial set mode failure, uart_set_mode() returned (0x%x).", (uint32_t)xErr);
|
||
|
|
#ifndef MB_TIMER_PORT_ENABLED
|
||
|
|
// Set timeout for TOUT interrupt (T3.5 modbus time)
|
||
|
|
xErr = uart_set_rx_timeout(ucUartNumber, MB_SERIAL_TOUT);
|
||
|
|
MB_PORT_CHECK((xErr == ESP_OK), FALSE,
|
||
|
|
"mb serial set rx timeout failure, uart_set_rx_timeout() returned (0x%x).", (uint32_t)xErr);
|
||
|
|
#endif
|
||
|
|
// Create a task to handle UART events
|
||
|
|
BaseType_t xStatus = xTaskCreate(vUartTask, "uart_queue_task", MB_SERIAL_TASK_STACK_SIZE,
|
||
|
|
NULL, MB_SERIAL_TASK_PRIO, &xMbTaskHandle);
|
||
|
|
if (xStatus != pdPASS) {
|
||
|
|
vTaskDelete(xMbTaskHandle);
|
||
|
|
// Force exit from function with failure
|
||
|
|
MB_PORT_CHECK(FALSE, FALSE,
|
||
|
|
"mb stack serial task creation error. xTaskCreate() returned (0x%x).",
|
||
|
|
(uint32_t)xStatus);
|
||
|
|
} else {
|
||
|
|
vTaskSuspend(xMbTaskHandle); // Suspend serial task while stack is not started
|
||
|
|
}
|
||
|
|
uiRxBufferPos = 0;
|
||
|
|
return TRUE;
|
||
|
|
}
|
||
|
|
|
||
|
|
void vMBPortSerialClose()
|
||
|
|
{
|
||
|
|
(void)vTaskSuspend(xMbTaskHandle);
|
||
|
|
(void)vTaskDelete(xMbTaskHandle);
|
||
|
|
ESP_ERROR_CHECK(uart_driver_delete(ucUartNumber));
|
||
|
|
}
|
||
|
|
|
||
|
|
BOOL xMBPortSerialPutByte(CHAR ucByte)
|
||
|
|
{
|
||
|
|
// Send one byte to UART transmission buffer
|
||
|
|
// This function is called by Modbus stack
|
||
|
|
UCHAR ucLength = uart_write_bytes(ucUartNumber, &ucByte, 1);
|
||
|
|
return (ucLength == 1);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Get one byte from intermediate RX buffer
|
||
|
|
BOOL xMBPortSerialGetByte(CHAR* pucByte)
|
||
|
|
{
|
||
|
|
assert(pucByte != NULL);
|
||
|
|
MB_PORT_CHECK((uiRxBufferPos < MB_SERIAL_BUF_SIZE),
|
||
|
|
FALSE, "mb stack serial get byte failure.");
|
||
|
|
*pucByte = ucBuffer[uiRxBufferPos];
|
||
|
|
uiRxBufferPos++;
|
||
|
|
return TRUE;
|
||
|
|
}
|
||
|
|
|