d096b3abb8
An existing UART driver does not support RS485 half duplex mode. This task adds this functionality to ESP_IDF UART driver. driver/uart.c/h: updated to add support of RS485 half duplex mode examples/peripherals/uart_echo_rs485/main/rs485_example.c: added test example components/driver/test/test_uart.c: added test of RS485 half duplex mode docs/en/api-reference/peripherals/uart.rst: updated documentation test_uart.c: suppress GCC warnings about discarded const qualifiers uart.rst: remove sphinx warning - "Duplicate explicit target name" simple change in uart.h file update (test_uart.c) after rebase from master update uart.rst, uart.c, rs485_example.c Update example description in file Readme.md update uart.c/h, uart.rst, test_uart.c according to review results update uart.h (uart_set_rx_timeout() description test_uart.c remove ignore tag The tests are completed using RS485 adapters hardware connected to two ESP32 WROVER KITs. TW#13812 Closes https://github.com/espressif/esp-idf/pull/667 Closes https://github.com/espressif/esp-idf/pull/1006
321 lines
13 KiB
C
321 lines
13 KiB
C
#include <string.h>
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#include "unity.h"
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#include "test_utils.h" // unity_send_signal
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#include "driver/uart.h" // for the uart driver access
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#include "esp_log.h"
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#include "esp_system.h" // for uint32_t esp_random()
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#define UART_TAG "Uart"
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#define UART_NUM1 (UART_NUM_1)
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#define BUF_SIZE (100)
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#define UART1_RX_PIN (22)
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#define UART1_TX_PIN (23)
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#define UART_BAUD_11520 (11520)
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#define UART_BAUD_115200 (115200)
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#define TOLERANCE (0.02) //baud rate error tolerance 2%.
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#define UART_TOLERANCE_CHECK(val, uper_limit, lower_limit) ( (val) <= (uper_limit) && (val) >= (lower_limit) )
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// RTS for RS485 Half-Duplex Mode manages DE/~RE
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#define UART1_RTS_PIN (18)
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// Number of packets to be send during test
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#define PACKETS_NUMBER (10)
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// Wait timeout for uart driver
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#define PACKET_READ_TICS (1000 / portTICK_RATE_MS)
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// The table for fast CRC16 calculation
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static const uint8_t crc_hi[] = {
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1,
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0x81, 0x40, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
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0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80,
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0x41, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00,
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0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81,
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0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1,
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0x81, 0x40, 0x01,
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0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01,
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0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
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0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81,
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0x40
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};
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static const uint8_t crc_low[] = {
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0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7,
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0x05, 0xC5, 0xC4,
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0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB,
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0x0B, 0xC9, 0x09,
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0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE,
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0xDF, 0x1F, 0xDD,
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0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2,
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0x12, 0x13, 0xD3,
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0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32,
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0x36, 0xF6, 0xF7,
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0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E,
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0xFE, 0xFA, 0x3A,
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0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B,
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0x2A, 0xEA, 0xEE,
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0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27,
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0xE7, 0xE6, 0x26,
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0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1,
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0x63, 0xA3, 0xA2,
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0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD,
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0x6D, 0xAF, 0x6F,
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0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8,
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0xB9, 0x79, 0xBB,
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0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4,
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0x74, 0x75, 0xB5,
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0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
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0x50, 0x90, 0x91,
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0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94,
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0x54, 0x9C, 0x5C,
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0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59,
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0x58, 0x98, 0x88,
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0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D,
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0x4D, 0x4C, 0x8C,
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0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
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0x41, 0x81, 0x80,
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0x40
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};
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static void uart_config(uint32_t baud_rate, bool use_ref_tick)
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{
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uart_config_t uart_config = {
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.baud_rate = baud_rate,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.use_ref_tick = use_ref_tick,
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};
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uart_param_config(UART_NUM1, &uart_config);
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uart_set_pin(UART_NUM1, UART1_TX_PIN, UART1_RX_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
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uart_driver_install(UART_NUM1, BUF_SIZE * 2, BUF_SIZE * 2, 20, NULL, 0);
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}
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TEST_CASE("test uart get baud-rate","[uart]")
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{
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uint32_t baud_rate1 = 0;
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uint32_t baud_rate2 = 0;
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printf("init uart%d, use reftick, baud rate : %d\n", (int)UART_NUM1, (int)UART_BAUD_11520);
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uart_config(UART_BAUD_11520, true);
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uart_get_baudrate(UART_NUM1, &baud_rate1);
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printf("init uart%d, unuse reftick, baud rate : %d\n", (int)UART_NUM1, (int)UART_BAUD_115200);
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uart_config(UART_BAUD_115200, false);
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uart_get_baudrate(UART_NUM1, &baud_rate2);
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printf("get baud rate when use reftick: %d\n", (int)baud_rate1);
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printf("get baud rate when don't use reftick: %d\n", (int)baud_rate2);
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uart_driver_delete(UART_NUM1);
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TEST_ASSERT(UART_TOLERANCE_CHECK(baud_rate1, (1.0 + TOLERANCE)*UART_BAUD_11520, (1.0 - TOLERANCE)*UART_BAUD_11520))
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TEST_ASSERT(UART_TOLERANCE_CHECK(baud_rate2, (1.0 + TOLERANCE)*UART_BAUD_115200, (1.0 - TOLERANCE)*UART_BAUD_115200))
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ESP_LOGI(UART_TAG, "get baud-rate test passed ....\n");
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}
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// Calculate buffer checksum using tables
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// The checksum CRC16 algorithm is specific
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// for Modbus standard and uses polynomial value = 0xA001
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static uint16_t get_buffer_crc16( uint8_t * frame_ptr, uint16_t length )
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{
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TEST_ASSERT( frame_ptr != NULL);
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uint8_t crc_hi_byte = 0xFF;
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uint8_t crc_low_byte = 0xFF;
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int index;
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while ( length-- )
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{
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index = crc_low_byte ^ *(frame_ptr++);
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crc_low_byte = crc_hi_byte ^ crc_hi[index];
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crc_hi_byte = crc_low[index];
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}
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return ((crc_hi_byte << 8) | crc_low_byte);
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}
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// Fill the buffer with random numbers and apply CRC16 at the end
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static uint16_t buffer_fill_random(uint8_t *buffer, size_t length)
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{
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TEST_ASSERT( buffer != NULL);
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uint8_t *byte_buffer = (uint8_t *)buffer;
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uint32_t random;
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// Pcket is too short
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if (length < 4) {
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return 0;
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}
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for (int i = 0; i < length; i++) {
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if (i == 0 || i % 4 == 0) {
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// Generates random int32_t number
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random = esp_random();
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}
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// Place each byte of the uint32_t random number into buffer
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byte_buffer[i] = random >> ((i % 4) * 8);
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}
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// Get checksum of the buffer
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uint16_t crc = get_buffer_crc16((uint8_t*)byte_buffer, (length - 2));
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// Apply checksum bytes into packet
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byte_buffer[length - 2] = (uint8_t)(crc & 0xFF); // Set Low byte CRC
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byte_buffer[length - 1] = (uint8_t)(crc >> 8); // Set High byte CRC
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return crc;
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}
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static void rs485_init()
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{
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uart_config_t uart_config = {
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.baud_rate = UART_BAUD_115200,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.rx_flow_ctrl_thresh = 122,
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};
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printf("RS485 port initialization...\r\n");
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// Configure UART1 parameters
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uart_param_config(UART_NUM1, &uart_config);
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// Set UART1 pins(TX: IO4, RX: I05, RTS: IO18, CTS: IO19)
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uart_set_pin(UART_NUM1, UART1_TX_PIN, UART1_RX_PIN, UART1_RTS_PIN, UART_PIN_NO_CHANGE);
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// Install UART driver (we don't need an event queue here)
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uart_driver_install(UART_NUM1, BUF_SIZE * 2, 0, 0, NULL, 0);
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// Setup rs485 half duplex mode
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//uart_set_rs485_hd_mode(uart_num, true);
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uart_set_mode(UART_NUM1, UART_MODE_RS485_HALF_DUPLEX);
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}
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static esp_err_t print_packet_data(const char *str, uint8_t *buffer, uint16_t buffer_size)
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{
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TEST_ASSERT( buffer != NULL);
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TEST_ASSERT( str != NULL);
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// Calculate the checksum of the buffer
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uint16_t crc16_calc = get_buffer_crc16(buffer, (buffer_size - 2));
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uint16_t crc16_in = ((uint16_t)(buffer[buffer_size - 1]) << 8) | buffer[buffer_size - 2];
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const char* state_str = (crc16_in != crc16_calc) ? "incorrect " : "correct ";
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// Print an array of data
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printf("%s%s RS485 packet = [ ", str, state_str);
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for (int i = 0; i < buffer_size; i++) {
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printf("0x%.2X ", (uint8_t)buffer[i]);
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}
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printf(" ]\r\n");
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printf("crc_in = 0x%.4X\r\n", (uint16_t)crc16_in);
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printf("crc_calc = 0x%.4X\r\n", (uint16_t)crc16_calc);
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esp_err_t result = (crc16_in != crc16_calc) ? ESP_ERR_INVALID_CRC : ESP_OK;
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return result;
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}
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// Slave test case for multi device
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static void rs485_slave()
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{
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rs485_init();
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uint8_t* slave_data = (uint8_t*) malloc(BUF_SIZE);
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uint16_t err_count = 0, good_count = 0;
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printf("Start recieve loop.\r\n");
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unity_send_signal("Slave_ready");
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unity_wait_for_signal("Master_started");
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for(int pack_count = 0; pack_count < PACKETS_NUMBER; pack_count++) {
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//Read slave_data from UART
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int len = uart_read_bytes(UART_NUM1, slave_data, BUF_SIZE, (PACKET_READ_TICS * 2));
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//Write slave_data back to UART
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if (len > 2) {
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esp_err_t status = print_packet_data("Received ", slave_data, len);
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// If recieved packet is correct then send it back
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if (status == ESP_OK) {
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uart_write_bytes(UART_NUM1, (char*)slave_data, len);
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good_count++;
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} else {
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printf("Incorrect packet received.\r\n");
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err_count++;
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}
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} else {
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printf("Incorrect data packet[%d] received.\r\n", pack_count);
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err_count++;
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}
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}
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printf("Test completed. Received packets = %d, errors = %d\r\n", good_count, err_count);
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// Wait for packet to be sent
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uart_wait_tx_done(UART_NUM1, PACKET_READ_TICS);
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free(slave_data);
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uart_driver_delete(UART_NUM1);
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TEST_ASSERT(err_count < 2);
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}
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// Master test of multi device test case.
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// It forms packet with random data, apply generated CRC16 and sends to slave.
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// If response recieved correctly from slave means RS485 channel works.
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static void rs485_master()
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{
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uint16_t err_count = 0, good_count = 0;
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rs485_init();
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uint8_t* master_buffer = (uint8_t*) malloc(BUF_SIZE);
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uint8_t* slave_buffer = (uint8_t*) malloc(BUF_SIZE);
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// The master test case should be synchronized with slave
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unity_wait_for_signal("Slave_ready");
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unity_send_signal("Master_started");
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printf("Start recieve loop.\r\n");
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for(int i = 0; i < PACKETS_NUMBER; i++) {
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// Form random buffer with CRC16
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buffer_fill_random(master_buffer, BUF_SIZE);
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// Print created packet for debugging
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esp_err_t status = print_packet_data("Send ", master_buffer, BUF_SIZE);
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TEST_ASSERT(status == ESP_OK);
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uart_write_bytes(UART_NUM1, (char*)master_buffer, BUF_SIZE);
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// Read translated packet from slave
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int len = uart_read_bytes(UART_NUM1, slave_buffer, BUF_SIZE, (PACKET_READ_TICS * 2));
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// Check if the received packet is too short
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if (len > 2) {
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// Print received packet and check checksum
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esp_err_t status = print_packet_data("Received ", slave_buffer, len);
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if (status == ESP_OK) {
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good_count++;
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printf("Received: %d\r\n", good_count);
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} else {
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err_count++;
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printf("Errors: %d\r\n", err_count);
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}
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}
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else {
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printf("Incorrect answer from slave.\r\n");
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err_count++;
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}
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}
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// Free the buffer and delete driver at the end
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free(master_buffer);
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uart_driver_delete(UART_NUM1);
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TEST_ASSERT(err_count <= 1);
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printf("Test completed. Received packets = %d, errors = %d\r\n", (uint16_t)good_count, (uint16_t)err_count);
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}
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/*
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* This multi devices test case verifies RS485 mode of the uart driver and checks
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* correctness of RS485 interface channel communication. It requires
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* RS485 bus driver hardware to be connected to boards.
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*/
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// The lines below are required to suppress GCC warnings about discarded const qualifiers
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// of function pointers in unity macro expansion. These warnings may be treated as errors during compilation.
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#pragma GCC diagnostic push // required for GCC
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#pragma GCC diagnostic ignored "-Wdiscarded-qualifiers"
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TEST_CASE_MULTIPLE_DEVICES("RS485 half duplex uart multiple devices test.", "[driver]", rs485_master, rs485_slave);
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#pragma GCC diagnostic pop // require GCC
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