4559434d5a
incorrect set of the MB_EVENT_COILS_WR event is changed while read coils in mbcontroller.c file added read/write handling for appropriate registers in freemodbus.c example file Closes https://github.com/espressif/esp-idf/issues/3289
493 lines
21 KiB
C
493 lines
21 KiB
C
// Copyright 2015-2016 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// mbcontroller.c
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// Implementation of the modbus controller
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// The modbus controller is responsible for processing of modbus packet and transfer data
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// into parameter instance.
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#include <sys/time.h> // for calculation of time stamp in milliseconds
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#include "esp_log.h" // for log_write
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#include "freertos/FreeRTOS.h" // for task creation and queue access
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#include "freertos/task.h" // for task api access
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#include "freertos/event_groups.h" // for event groups
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#include "freertos/queue.h" // for queue api access
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#include "mb.h" // for mb types definition
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#include "mbutils.h" // for mbutils functions definition for stack callback
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#include "sdkconfig.h" // for KConfig values
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#include "mbcontroller.h"
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static const char* TAG = "MB_CONTROLLER";
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#define MB_CHECK(a, ret_val, str, ...) \
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if (!(a)) { \
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ESP_LOGE(TAG, "%s(%u): " str, __FUNCTION__, __LINE__, ##__VA_ARGS__); \
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return (ret_val); \
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}
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// The Macros below handle the endianness while transfer N byte data into buffer
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#define _XFER_4_RD(dst, src) { \
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*(uint8_t *)(dst)++ = *(uint8_t*)(src + 1); \
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*(uint8_t *)(dst)++ = *(uint8_t*)(src + 0); \
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*(uint8_t *)(dst)++ = *(uint8_t*)(src + 3); \
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*(uint8_t *)(dst)++ = *(uint8_t*)(src + 2); \
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(src) += 4; \
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}
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#define _XFER_2_RD(dst, src) { \
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*(uint8_t *)(dst)++ = *(uint8_t *)(src + 1); \
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*(uint8_t *)(dst)++ = *(uint8_t *)(src + 0); \
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(src) += 2; \
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}
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#define _XFER_4_WR(dst, src) { \
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*(uint8_t *)(dst + 1) = *(uint8_t *)(src)++; \
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*(uint8_t *)(dst + 0) = *(uint8_t *)(src)++; \
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*(uint8_t *)(dst + 3) = *(uint8_t *)(src)++; \
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*(uint8_t *)(dst + 2) = *(uint8_t *)(src)++ ; \
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}
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#define _XFER_2_WR(dst, src) { \
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*(uint8_t *)(dst + 1) = *(uint8_t *)(src)++; \
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*(uint8_t *)(dst + 0) = *(uint8_t *)(src)++; \
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}
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#ifdef CONFIG_MB_CONTROLLER_SLAVE_ID_SUPPORT
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#define MB_ID_BYTE0(id) ((uint8_t)(id))
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#define MB_ID_BYTE1(id) ((uint8_t)(((uint16_t)(id) >> 8) & 0xFF))
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#define MB_ID_BYTE2(id) ((uint8_t)(((uint32_t)(id) >> 16) & 0xFF))
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#define MB_ID_BYTE3(id) ((uint8_t)(((uint32_t)(id) >> 24) & 0xFF))
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#define MB_CONTROLLER_SLAVE_ID (CONFIG_MB_CONTROLLER_SLAVE_ID)
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#define MB_SLAVE_ID_SHORT (MB_ID_BYTE3(MB_CONTROLLER_SLAVE_ID))
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// Slave ID constant
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static uint8_t mb_slave_id[] = { MB_ID_BYTE0(MB_CONTROLLER_SLAVE_ID),
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MB_ID_BYTE1(MB_CONTROLLER_SLAVE_ID),
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MB_ID_BYTE2(MB_CONTROLLER_SLAVE_ID) };
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#endif
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// Event group parameters
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static TaskHandle_t mb_controller_task_handle = NULL;
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static EventGroupHandle_t mb_controller_event_group = NULL;
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static QueueHandle_t mb_controller_notification_queue_handle = NULL;
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static uint8_t mb_type = 0;
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static uint8_t mb_address = 0;
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static uint8_t mb_port = 0;
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static uint32_t mb_speed = 0;
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static uint16_t mb_parity = 0;
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// This is array of Modbus address area descriptors
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static mb_register_area_descriptor_t mb_area_descriptors[MB_PARAM_COUNT] = { 0 };
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// The helper function to get time stamp in microseconds
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static uint64_t get_time_stamp()
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{
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uint64_t time_stamp = esp_timer_get_time();
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return time_stamp;
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}
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// Helper function to send parameter information to application task
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static esp_err_t send_param_info(mb_event_group_t par_type, uint16_t mb_offset,
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uint8_t* par_address, uint16_t par_size)
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{
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esp_err_t error = ESP_FAIL;
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mb_param_info_t par_info;
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// Check if queue is not full the send parameter information
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par_info.type = par_type;
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par_info.size = par_size;
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par_info.address = par_address;
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par_info.time_stamp = get_time_stamp();
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par_info.mb_offset = mb_offset;
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BaseType_t status = xQueueSend(mb_controller_notification_queue_handle, &par_info, MB_PAR_INFO_TOUT);
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if (pdTRUE == status) {
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ESP_LOGD(TAG, "Queue send parameter info (type, address, size): %d, 0x%.4x, %d",
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par_type, (uint32_t)par_address, par_size);
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error = ESP_OK;
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} else if (errQUEUE_FULL == status) {
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ESP_LOGD(TAG, "Parameter queue is overflowed.");
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}
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return error;
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}
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static esp_err_t send_param_access_notification(mb_event_group_t event)
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{
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esp_err_t err = ESP_FAIL;
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mb_event_group_t bits = (mb_event_group_t)xEventGroupSetBits(mb_controller_event_group, (EventBits_t)event);
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if (bits & event) {
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ESP_LOGD(TAG, "The MB_REG_CHANGE_EVENT = 0x%.2x is set.", (uint8_t)event);
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err = ESP_OK;
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}
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return err;
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}
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// Modbus task function
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static void modbus_task(void *pvParameters) {
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// Main Modbus stack processing cycle
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for (;;) {
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BaseType_t status = xEventGroupWaitBits(mb_controller_event_group,
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(BaseType_t)(MB_EVENT_STACK_STARTED),
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pdFALSE, // do not clear bits
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pdFALSE,
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portMAX_DELAY);
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// Check if stack started then poll for data
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if (status & MB_EVENT_STACK_STARTED) {
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(void)eMBPoll(); // allow stack to process data
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(void)xMBPortSerialTxPoll(); // Send response buffer if ready
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}
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}
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}
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// Blocking function to get event on parameter group change for application task
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mb_event_group_t mbcontroller_check_event(mb_event_group_t group)
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{
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assert(mb_controller_event_group != NULL);
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BaseType_t status = xEventGroupWaitBits(mb_controller_event_group, (BaseType_t)group,
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pdTRUE , pdFALSE, portMAX_DELAY);
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return (mb_event_group_t)status;
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}
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esp_err_t mbcontroller_set_descriptor(const mb_register_area_descriptor_t descr_info)
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{
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MB_CHECK(((descr_info.type < MB_PARAM_COUNT) && (descr_info.type >= MB_PARAM_HOLDING)),
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ESP_ERR_INVALID_ARG, "mb incorrect modbus instance type = (0x%x).",
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(uint32_t)descr_info.type);
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MB_CHECK((descr_info.address != NULL),
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ESP_ERR_INVALID_ARG, "mb instance pointer is NULL.");
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MB_CHECK((descr_info.size >= MB_INST_MIN_SIZE) && (descr_info.size < (MB_INST_MAX_SIZE)),
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ESP_ERR_INVALID_ARG, "mb instance size is incorrect = (0x%x).",
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(uint32_t)descr_info.size);
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mb_area_descriptors[descr_info.type].type = descr_info.type;
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mb_area_descriptors[descr_info.type].start_offset = descr_info.start_offset;
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mb_area_descriptors[descr_info.type].address = (uint8_t*)descr_info.address;
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mb_area_descriptors[descr_info.type].size = descr_info.size;
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return ESP_OK;
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}
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// Initialization of Modbus controller
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esp_err_t mbcontroller_init(void) {
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mb_type = MB_MODE_RTU;
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mb_address = MB_DEVICE_ADDRESS;
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mb_port = MB_UART_PORT;
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mb_speed = MB_DEVICE_SPEED;
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mb_parity = MB_PARITY_NONE;
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// Initialization of active context of the modbus controller
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BaseType_t status = 0;
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// Parameter change notification queue
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mb_controller_event_group = xEventGroupCreate();
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MB_CHECK((mb_controller_event_group != NULL),
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ESP_ERR_NO_MEM, "mb event group error.");
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// Parameter change notification queue
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mb_controller_notification_queue_handle = xQueueCreate(
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MB_CONTROLLER_NOTIFY_QUEUE_SIZE,
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sizeof(mb_param_info_t));
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MB_CHECK((mb_controller_notification_queue_handle != NULL),
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ESP_ERR_NO_MEM, "mb notify queue creation error.");
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// Create modbus controller task
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status = xTaskCreate((void*)&modbus_task,
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"modbus_task",
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MB_CONTROLLER_STACK_SIZE,
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NULL,
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MB_CONTROLLER_PRIORITY,
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&mb_controller_task_handle);
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if (status != pdPASS) {
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vTaskDelete(mb_controller_task_handle);
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MB_CHECK((status == pdPASS), ESP_ERR_NO_MEM,
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"mb controller task creation error, xTaskCreate() returns (0x%x).",
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(uint32_t)status);
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}
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assert(mb_controller_task_handle != NULL); // The task is created but handle is incorrect
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return ESP_OK;
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}
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// Function to get notification about parameter change from application task
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esp_err_t mbcontroller_get_param_info(mb_param_info_t* reg_info, uint32_t timeout)
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{
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esp_err_t err = ESP_ERR_TIMEOUT;
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MB_CHECK((mb_controller_notification_queue_handle != NULL),
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ESP_ERR_INVALID_ARG, "mb queue handle is invalid.");
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MB_CHECK((reg_info != NULL), ESP_ERR_INVALID_ARG, "mb register information is invalid.");
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BaseType_t status = xQueueReceive(mb_controller_notification_queue_handle,
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reg_info, pdMS_TO_TICKS(timeout));
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if (status == pdTRUE) {
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err = ESP_OK;
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}
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return err;
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}
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// Start Modbus controller start function
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esp_err_t mbcontroller_start(void)
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{
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eMBErrorCode status = MB_EIO;
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// Initialize Modbus stack using mbcontroller parameters
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status = eMBInit((eMBMode)mb_type, (UCHAR)mb_address, (UCHAR)mb_port,
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(ULONG)mb_speed, (eMBParity)mb_parity);
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MB_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE,
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"mb stack initialization failure, eMBInit() returns (0x%x).", status);
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#ifdef CONFIG_MB_CONTROLLER_SLAVE_ID_SUPPORT
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status = eMBSetSlaveID(MB_SLAVE_ID_SHORT, TRUE, (UCHAR*)mb_slave_id, sizeof(mb_slave_id));
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MB_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack set slave ID failure.");
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#endif
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status = eMBEnable();
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MB_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE,
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"mb stack set slave ID failure, eMBEnable() returned (0x%x).", (uint32_t)status);
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// Set the mbcontroller start flag
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EventBits_t flag = xEventGroupSetBits(mb_controller_event_group,
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(EventBits_t)MB_EVENT_STACK_STARTED);
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MB_CHECK((flag & MB_EVENT_STACK_STARTED),
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ESP_ERR_INVALID_STATE, "mb stack start event set error.");
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return ESP_OK;
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}
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// Modbus controller destroy function
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esp_err_t mbcontroller_destroy(void)
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{
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eMBErrorCode mb_error = MB_ENOERR;
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// Stop polling by clearing correspondent bit in the event group
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EventBits_t flag = xEventGroupClearBits(mb_controller_event_group,
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(EventBits_t)MB_EVENT_STACK_STARTED);
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MB_CHECK((flag & MB_EVENT_STACK_STARTED),
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ESP_ERR_INVALID_STATE, "mb stack stop event failure.");
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// Desable and then destroy the Modbus stack
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mb_error = eMBDisable();
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MB_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack disable failure.");
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(void)vTaskDelete(mb_controller_task_handle);
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(void)vQueueDelete(mb_controller_notification_queue_handle);
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(void)vEventGroupDelete(mb_controller_event_group);
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mb_error = eMBClose();
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MB_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE,
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"mb stack close failure returned (0x%x).", (uint32_t)mb_error);
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return ESP_OK;
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}
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// Setup modbus controller parameters
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esp_err_t mbcontroller_setup(const mb_communication_info_t comm_info)
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{
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MB_CHECK(((comm_info.mode == MB_MODE_RTU) || (comm_info.mode == MB_MODE_ASCII)),
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ESP_ERR_INVALID_ARG, "mb incorrect mode = (0x%x).",
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(uint32_t)comm_info.mode);
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MB_CHECK((comm_info.slave_addr <= MB_ADDRESS_MAX),
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ESP_ERR_INVALID_ARG, "mb wrong slave address = (0x%x).",
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(uint32_t)comm_info.slave_addr);
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MB_CHECK((comm_info.port <= UART_NUM_2), ESP_ERR_INVALID_ARG,
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"mb wrong port to set = (0x%x).", (uint32_t)comm_info.port);
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MB_CHECK((comm_info.parity <= UART_PARITY_EVEN), ESP_ERR_INVALID_ARG,
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"mb wrong parity option = (0x%x).", (uint32_t)comm_info.parity);
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mb_type = (uint8_t)comm_info.mode;
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mb_address = (uint8_t)comm_info.slave_addr;
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mb_port = (uint8_t)comm_info.port;
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mb_speed = (uint32_t)comm_info.baudrate;
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mb_parity = (uint8_t)comm_info.parity;
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return ESP_OK;
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}
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/* ----------------------- Callback functions for Modbus stack ---------------------------------*/
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// These are executed by modbus stack to read appropriate type of registers.
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// This is required to suppress warning when register start address is zero
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#pragma GCC diagnostic ignored "-Wtype-limits"
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// Callback function for reading of MB Input Registers
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eMBErrorCode eMBRegInputCB(UCHAR * pucRegBuffer, USHORT usAddress,
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USHORT usNRegs)
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{
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assert(pucRegBuffer != NULL);
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USHORT usRegInputNregs = (USHORT)(mb_area_descriptors[MB_PARAM_INPUT].size >> 1); // Number of input registers
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USHORT usInputRegStart = (USHORT)mb_area_descriptors[MB_PARAM_INPUT].start_offset; // Get Modbus start address
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UCHAR* pucInputBuffer = (UCHAR*)mb_area_descriptors[MB_PARAM_INPUT].address; // Get instance address
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USHORT usRegs = usNRegs;
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eMBErrorCode eStatus = MB_ENOERR;
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USHORT iRegIndex;
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// If input or configuration parameters are incorrect then return an error to stack layer
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if ((usAddress >= usInputRegStart)
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&& (pucInputBuffer != NULL)
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&& (usNRegs >= 1)
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&& ((usAddress + usRegs) <= (usInputRegStart + usRegInputNregs + 1))
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&& (usRegInputNregs >= 1)) {
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iRegIndex = (USHORT)(usAddress - usInputRegStart - 1);
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iRegIndex <<= 1; // register Address to byte address
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pucInputBuffer += iRegIndex;
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UCHAR* pucBufferStart = pucInputBuffer;
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while (usRegs > 0) {
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_XFER_2_RD(pucRegBuffer, pucInputBuffer);
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iRegIndex += 2;
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usRegs -= 1;
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}
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// Send access notification
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(void)send_param_access_notification(MB_EVENT_INPUT_REG_RD);
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// Send parameter info to application task
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(void)send_param_info(MB_EVENT_INPUT_REG_RD, (uint16_t)usAddress,
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(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
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} else {
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eStatus = MB_ENOREG;
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}
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return eStatus;
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}
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// Callback function for reading of MB Holding Registers
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// Executed by stack when request to read/write holding registers is received
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eMBErrorCode eMBRegHoldingCB(UCHAR * pucRegBuffer, USHORT usAddress,
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USHORT usNRegs, eMBRegisterMode eMode)
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{
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assert(pucRegBuffer != NULL);
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USHORT usRegHoldingNregs = (USHORT)(mb_area_descriptors[MB_PARAM_HOLDING].size >> 1);
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USHORT usRegHoldingStart = (USHORT)mb_area_descriptors[MB_PARAM_HOLDING].start_offset;
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UCHAR* pucHoldingBuffer = (UCHAR*)mb_area_descriptors[MB_PARAM_HOLDING].address;
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eMBErrorCode eStatus = MB_ENOERR;
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USHORT iRegIndex;
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USHORT usRegs = usNRegs;
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// Check input and configuration parameters for correctness
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if ((usAddress >= usRegHoldingStart)
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&& (pucHoldingBuffer != NULL)
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&& ((usAddress + usRegs) <= (usRegHoldingStart + usRegHoldingNregs + 1))
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&& (usRegHoldingNregs >= 1)
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&& (usNRegs >= 1)) {
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iRegIndex = (USHORT) (usAddress - usRegHoldingStart - 1);
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iRegIndex <<= 1; // register Address to byte address
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pucHoldingBuffer += iRegIndex;
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UCHAR* pucBufferStart = pucHoldingBuffer;
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switch (eMode) {
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case MB_REG_READ:
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while (usRegs > 0) {
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_XFER_2_RD(pucRegBuffer, pucHoldingBuffer);
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iRegIndex += 2;
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usRegs -= 1;
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};
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// Send access notification
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(void)send_param_access_notification(MB_EVENT_HOLDING_REG_RD);
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// Send parameter info
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(void)send_param_info(MB_EVENT_HOLDING_REG_RD, (uint16_t)usAddress,
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(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
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break;
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case MB_REG_WRITE:
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while (usRegs > 0) {
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_XFER_2_WR(pucHoldingBuffer, pucRegBuffer);
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pucHoldingBuffer += 2;
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iRegIndex += 2;
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usRegs -= 1;
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};
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// Send access notification
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(void)send_param_access_notification(MB_EVENT_HOLDING_REG_WR);
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// Send parameter info
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(void)send_param_info(MB_EVENT_HOLDING_REG_WR, (uint16_t)usAddress,
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(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
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break;
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}
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} else {
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eStatus = MB_ENOREG;
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}
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return eStatus;
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}
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// Callback function for reading of MB Coils Registers
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eMBErrorCode eMBRegCoilsCB(UCHAR* pucRegBuffer, USHORT usAddress,
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USHORT usNCoils, eMBRegisterMode eMode)
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{
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assert(NULL != pucRegBuffer);
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USHORT usRegCoilNregs = (USHORT)(mb_area_descriptors[MB_PARAM_COIL].size >> 1); // number of registers in storage area
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USHORT usRegCoilsStart = (USHORT)mb_area_descriptors[MB_PARAM_COIL].start_offset; // MB offset of coils registers
|
|
UCHAR* pucRegCoilsBuf = (UCHAR*)mb_area_descriptors[MB_PARAM_COIL].address;
|
|
eMBErrorCode eStatus = MB_ENOERR;
|
|
USHORT iRegIndex;
|
|
USHORT usCoils = usNCoils;
|
|
usAddress--; // The address is already +1
|
|
if ((usAddress >= usRegCoilsStart)
|
|
&& (usRegCoilNregs >= 1)
|
|
&& ((usAddress + usCoils) <= (usRegCoilsStart + (usRegCoilNregs << 4) + 1))
|
|
&& (pucRegCoilsBuf != NULL)
|
|
&& (usNCoils >= 1)) {
|
|
iRegIndex = (USHORT) (usAddress - usRegCoilsStart);
|
|
CHAR* pucCoilsDataBuf = (CHAR*)(pucRegCoilsBuf + (iRegIndex >> 3));
|
|
switch (eMode) {
|
|
case MB_REG_READ:
|
|
while (usCoils > 0) {
|
|
UCHAR ucResult = xMBUtilGetBits((UCHAR*)pucRegCoilsBuf, iRegIndex, 1);
|
|
xMBUtilSetBits(pucRegBuffer, iRegIndex - (usAddress - usRegCoilsStart), 1, ucResult);
|
|
iRegIndex++;
|
|
usCoils--;
|
|
}
|
|
// Send an event to notify application task about event
|
|
(void)send_param_access_notification(MB_EVENT_COILS_RD);
|
|
(void)send_param_info(MB_EVENT_COILS_RD, (uint16_t)usAddress,
|
|
(uint8_t*)(pucCoilsDataBuf), (uint16_t)usNCoils);
|
|
break;
|
|
case MB_REG_WRITE:
|
|
while (usCoils > 0) {
|
|
UCHAR ucResult = xMBUtilGetBits(pucRegBuffer,
|
|
iRegIndex - (usAddress - usRegCoilsStart), 1);
|
|
xMBUtilSetBits((uint8_t*)pucRegCoilsBuf, iRegIndex, 1, ucResult);
|
|
iRegIndex++;
|
|
usCoils--;
|
|
}
|
|
// Send an event to notify application task about event
|
|
(void)send_param_access_notification(MB_EVENT_COILS_WR);
|
|
(void)send_param_info(MB_EVENT_COILS_WR, (uint16_t)usAddress,
|
|
(uint8_t*)pucCoilsDataBuf, (uint16_t)usNCoils);
|
|
break;
|
|
} // switch ( eMode )
|
|
} else {
|
|
// If the configuration or input parameters are incorrect then return error to stack
|
|
eStatus = MB_ENOREG;
|
|
}
|
|
return eStatus;
|
|
}
|
|
|
|
// Callback function for reading of MB Discrete Input Registers
|
|
eMBErrorCode eMBRegDiscreteCB(UCHAR * pucRegBuffer, USHORT usAddress,
|
|
USHORT usNDiscrete)
|
|
{
|
|
assert(pucRegBuffer != NULL);
|
|
USHORT usRegDiscreteNregs = (USHORT)(mb_area_descriptors[MB_PARAM_DISCRETE].size >> 1); // number of registers in storage area
|
|
USHORT usRegDiscreteStart = (USHORT)mb_area_descriptors[MB_PARAM_DISCRETE].start_offset; // MB offset of registers
|
|
UCHAR* pucRegDiscreteBuf = (UCHAR*)mb_area_descriptors[MB_PARAM_DISCRETE].address; // the storage address
|
|
eMBErrorCode eStatus = MB_ENOERR;
|
|
USHORT iRegIndex, iRegBitIndex, iNReg;
|
|
UCHAR* pucDiscreteInputBuf;
|
|
iNReg = usNDiscrete / 8 + 1;
|
|
pucDiscreteInputBuf = (UCHAR*) pucRegDiscreteBuf;
|
|
// It already plus one in modbus function method.
|
|
usAddress--;
|
|
if ((usAddress >= usRegDiscreteStart)
|
|
&& (usRegDiscreteNregs >= 1)
|
|
&& (pucRegDiscreteBuf != NULL)
|
|
&& ((usAddress + usNDiscrete) <= (usRegDiscreteStart + (usRegDiscreteNregs * 16)))
|
|
&& (usNDiscrete >= 1)) {
|
|
iRegIndex = (USHORT) (usAddress - usRegDiscreteStart) / 8; // Get register index in the buffer for bit number
|
|
iRegBitIndex = (USHORT)(usAddress - usRegDiscreteStart) % 8; // Get bit index
|
|
UCHAR* pucTempBuf = &pucDiscreteInputBuf[iRegIndex];
|
|
while (iNReg > 0) {
|
|
*pucRegBuffer++ = xMBUtilGetBits(&pucDiscreteInputBuf[iRegIndex++], iRegBitIndex, 8);
|
|
iNReg--;
|
|
}
|
|
pucRegBuffer--;
|
|
// Last discrete
|
|
usNDiscrete = usNDiscrete % 8;
|
|
// Filling zero to high bit
|
|
*pucRegBuffer = *pucRegBuffer << (8 - usNDiscrete);
|
|
*pucRegBuffer = *pucRegBuffer >> (8 - usNDiscrete);
|
|
// Send an event to notify application task about event
|
|
(void)send_param_access_notification(MB_EVENT_DISCRETE_RD);
|
|
(void)send_param_info(MB_EVENT_DISCRETE_RD, (uint16_t)usAddress,
|
|
(uint8_t*)pucTempBuf, (uint16_t)usNDiscrete);
|
|
} else {
|
|
eStatus = MB_ENOREG;
|
|
}
|
|
return eStatus;
|
|
}
|
|
#pragma GCC diagnostic pop // require GCC
|