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esp-idf/components/freemodbus/tcp_master/modbus_controller/mbc_tcp_master.c

717 wiersze
32 KiB
C
Czysty Wina Historia

/* Copyright 2018 Espressif Systems (Shanghai) PTE LTD
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
// mbc_tcp_master.c
// TCP master implementation of the Modbus controller
#include <sys/time.h> // for calculation of time stamp in milliseconds
#include "esp_log.h" // for log_write
#include <string.h> // for memcpy
#include "freertos/FreeRTOS.h" // for task creation and queue access
#include "freertos/task.h" // for task api access
#include "freertos/event_groups.h" // for event groups
#include "freertos/queue.h" // for queue api access
#include "mb_m.h" // for modbus stack master types definition
#include "port.h" // for port callback functions and defines
#include "mbutils.h" // for mbutils functions definition for stack callback
#include "sdkconfig.h" // for KConfig values
#include "esp_modbus_common.h" // for common types
#include "esp_modbus_master.h" // for public master types
#include "mbc_master.h" // for private master types
#include "mbc_tcp_master.h" // for tcp master create function and types
#include "port_tcp_master.h" // for tcp master port defines and types
/*-----------------------Master mode use these variables----------------------*/
// The response time is average processing time + data transmission
#define MB_RESPONSE_TIMEOUT pdMS_TO_TICKS(CONFIG_FMB_MASTER_TIMEOUT_MS_RESPOND)
static mb_master_interface_t* mbm_interface_ptr = NULL;
// Modbus event processing task
static void modbus_tcp_master_task(void *pvParameters)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_ASSERT(mbm_opts != NULL);
// Main Modbus stack processing cycle
for (;;) {
// Wait for poll events
BaseType_t status = xEventGroupWaitBits(mbm_opts->mbm_event_group,
(BaseType_t)(MB_EVENT_STACK_STARTED),
pdFALSE, // do not clear bits
pdFALSE,
portMAX_DELAY);
// Check if stack started then poll for data
if (status & MB_EVENT_STACK_STARTED) {
(void)eMBMasterPoll(); // Allow stack to process data
}
}
}
// Setup Modbus controller parameters
static esp_err_t mbc_tcp_master_setup(void* comm_info)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_CHECK((mbm_opts != NULL), ESP_ERR_INVALID_ARG, "mb incorrect options pointer.");
const mb_communication_info_t* comm_info_ptr = (mb_communication_info_t*)comm_info;
// Check communication options
MB_MASTER_CHECK((comm_info_ptr->ip_mode == MB_MODE_TCP),
ESP_ERR_INVALID_ARG, "mb incorrect mode = (0x%x).",
(uint32_t)comm_info_ptr->ip_mode);
MB_MASTER_CHECK((comm_info_ptr->ip_addr != NULL),
ESP_ERR_INVALID_ARG, "mb wrong slave ip address table.");
MB_MASTER_CHECK(((comm_info_ptr->ip_addr_type == MB_IPV4) || (comm_info_ptr->ip_addr_type == MB_IPV6)),
ESP_ERR_INVALID_ARG, "mb incorrect addr type = (0x%x).", (uint8_t)comm_info_ptr->ip_addr_type);
MB_MASTER_CHECK((comm_info_ptr->ip_netif_ptr != NULL),
ESP_ERR_INVALID_ARG, "mb incorrect iface address.");
// Save the communication options
mbm_opts->mbm_comm = *(mb_communication_info_t*)comm_info_ptr;
return ESP_OK;
}
// Modbus controller stack start function
static esp_err_t mbc_tcp_master_start(void)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
eMBErrorCode status = MB_EIO;
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_CHECK((mbm_opts != NULL), ESP_ERR_INVALID_ARG, "mb incorrect options pointer.");
const mb_communication_info_t* comm_info = (mb_communication_info_t*)&mbm_opts->mbm_comm;
// Initialize Modbus stack using mbcontroller parameters
status = eMBMasterTCPInit((USHORT)comm_info->ip_port);
MB_MASTER_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE,
"mb stack initialization failure, eMBMasterInit() returns (0x%x).", status);
MB_MASTER_CHECK((mbm_opts->mbm_param_descriptor_size >= 1), ESP_ERR_INVALID_ARG, "mb table size is incorrect.");
bool result = false;
const char** comm_ip_table = (const char**)comm_info->ip_addr;
MB_MASTER_CHECK((comm_ip_table != NULL), ESP_ERR_INVALID_ARG, "mb ip table address is incorrect.");
eMBPortProto proto = (comm_info->ip_mode == MB_MODE_TCP) ? MB_PROTO_TCP : MB_PROTO_UDP;
eMBPortIpVer ip_ver = (comm_info->ip_addr_type == MB_IPV4) ? MB_PORT_IPV4 : MB_PORT_IPV6;
vMBTCPPortMasterSetNetOpt(comm_info->ip_netif_ptr, ip_ver, proto);
vMBTCPPortMasterTaskStart();
// Add slave IP address for each slave to initialise connection
for (int idx = 0; *comm_ip_table != NULL; idx++, comm_ip_table++)
{
result = (BOOL)xMBTCPPortMasterAddSlaveIp(*comm_ip_table);
MB_MASTER_CHECK(result, ESP_ERR_INVALID_STATE, "mb stack add slave IP failed: %s.", *comm_ip_table);
}
// Add end of list condition
(void)xMBTCPPortMasterAddSlaveIp(NULL);
status = eMBMasterEnable();
MB_MASTER_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE,
"mb stack set slave ID failure, eMBMasterEnable() returned (0x%x).", (uint32_t)status);
bool start = (bool)xMBTCPPortMasterWaitEvent(mbm_opts->mbm_event_group, (EventBits_t)MB_EVENT_STACK_STARTED);
MB_MASTER_CHECK((start), ESP_ERR_INVALID_STATE, "mb stack start failed.");
return ESP_OK;
}
// Modbus controller destroy function
static esp_err_t mbc_tcp_master_destroy(void)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_CHECK((mbm_opts != NULL), ESP_ERR_INVALID_ARG, "mb incorrect options pointer.");
eMBErrorCode mb_error = MB_ENOERR;
// Stop polling by clearing correspondent bit in the event group
xEventGroupClearBits(mbm_opts->mbm_event_group,
(EventBits_t)MB_EVENT_STACK_STARTED);
// Disable and then destroy the Modbus stack
mb_error = eMBMasterDisable();
MB_MASTER_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack disable failure.");
(void)vTaskDelete(mbm_opts->mbm_task_handle);
(void)vEventGroupDelete(mbm_opts->mbm_event_group);
mb_error = eMBMasterClose();
MB_MASTER_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE,
"mb stack close failure returned (0x%x).", (uint32_t)mb_error);
free(mbm_interface_ptr); // free the memory allocated for options
vMBPortSetMode((UCHAR)MB_PORT_INACTIVE);
mbm_interface_ptr = NULL;
return ESP_OK;
}
// Set Modbus parameter description table
static esp_err_t mbc_tcp_master_set_descriptor(const mb_parameter_descriptor_t* descriptor, const uint16_t num_elements)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
MB_MASTER_CHECK((descriptor != NULL), ESP_ERR_INVALID_ARG, "mb incorrect descriptor.");
MB_MASTER_CHECK((num_elements >= 1), ESP_ERR_INVALID_ARG, "mb table size is incorrect.");
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_CHECK((mbm_opts != NULL), ESP_ERR_INVALID_ARG, "mb options.");
const char** comm_ip_table = (const char**)mbm_opts->mbm_comm.ip_addr;
MB_MASTER_CHECK((comm_ip_table != NULL), ESP_ERR_INVALID_ARG, "mb ip table address is incorrect.");
const mb_parameter_descriptor_t *reg_ptr = descriptor;
// Go through all items in the table to check all Modbus registers
for (uint16_t counter = 0; counter < (num_elements); counter++, reg_ptr++)
{
MB_MASTER_CHECK((comm_ip_table[reg_ptr->mb_slave_addr - 1] != NULL), ESP_ERR_INVALID_ARG, "mb ip table address is incorrect.");
// Below is the code to check consistency of the table format and required fields.
MB_MASTER_CHECK((reg_ptr->cid == counter), ESP_ERR_INVALID_ARG, "mb descriptor cid field is incorrect.");
MB_MASTER_CHECK((reg_ptr->param_key != NULL), ESP_ERR_INVALID_ARG, "mb descriptor param key is incorrect.");
MB_MASTER_CHECK((reg_ptr->mb_size > 0), ESP_ERR_INVALID_ARG, "mb descriptor param size is incorrect.");
}
mbm_opts->mbm_param_descriptor_table = descriptor;
mbm_opts->mbm_param_descriptor_size = num_elements;
return ESP_OK;
}
// Send custom Modbus request defined as mb_param_request_t structure
static esp_err_t mbc_tcp_master_send_request(mb_param_request_t* request, void* data_ptr)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_CHECK((request != NULL), ESP_ERR_INVALID_ARG, "mb request structure.");
MB_MASTER_CHECK((data_ptr != NULL), ESP_ERR_INVALID_ARG, "mb incorrect data pointer.");
eMBMasterReqErrCode mb_error = MB_MRE_NO_REG;
esp_err_t error = ESP_FAIL;
uint8_t mb_slave_addr = request->slave_addr;
uint8_t mb_command = request->command;
uint16_t mb_offset = request->reg_start;
uint16_t mb_size = request->reg_size;
// Set the buffer for callback function processing of received data
mbm_opts->mbm_reg_buffer_ptr = (uint8_t*)data_ptr;
mbm_opts->mbm_reg_buffer_size = mb_size;
// Calls appropriate request function to send request and waits response
switch(mb_command)
{
case MB_FUNC_READ_COILS:
mb_error = eMBMasterReqReadCoils((UCHAR)mb_slave_addr, (USHORT)mb_offset,
(USHORT)mb_size , (LONG)MB_RESPONSE_TIMEOUT );
break;
case MB_FUNC_WRITE_SINGLE_COIL:
mb_error = eMBMasterReqWriteCoil((UCHAR)mb_slave_addr, (USHORT)mb_offset,
*(USHORT*)data_ptr, (LONG)MB_RESPONSE_TIMEOUT );
break;
case MB_FUNC_WRITE_MULTIPLE_COILS:
mb_error = eMBMasterReqWriteMultipleCoils((UCHAR)mb_slave_addr, (USHORT)mb_offset,
(USHORT)mb_size, (UCHAR*)data_ptr,
(LONG)MB_RESPONSE_TIMEOUT);
break;
case MB_FUNC_READ_DISCRETE_INPUTS:
mb_error = eMBMasterReqReadDiscreteInputs((UCHAR)mb_slave_addr, (USHORT)mb_offset,
(USHORT)mb_size, (LONG)MB_RESPONSE_TIMEOUT );
break;
case MB_FUNC_READ_HOLDING_REGISTER:
mb_error = eMBMasterReqReadHoldingRegister((UCHAR)mb_slave_addr, (USHORT)mb_offset,
(USHORT)mb_size, (LONG)MB_RESPONSE_TIMEOUT );
break;
case MB_FUNC_WRITE_REGISTER:
mb_error = eMBMasterReqWriteHoldingRegister( (UCHAR)mb_slave_addr, (USHORT)mb_offset,
*(USHORT*)data_ptr, (LONG)MB_RESPONSE_TIMEOUT );
break;
case MB_FUNC_WRITE_MULTIPLE_REGISTERS:
mb_error = eMBMasterReqWriteMultipleHoldingRegister( (UCHAR)mb_slave_addr,
(USHORT)mb_offset, (USHORT)mb_size,
(USHORT*)data_ptr, (LONG)MB_RESPONSE_TIMEOUT );
break;
case MB_FUNC_READWRITE_MULTIPLE_REGISTERS:
mb_error = eMBMasterReqReadWriteMultipleHoldingRegister( (UCHAR)mb_slave_addr, (USHORT)mb_offset,
(USHORT)mb_size, (USHORT*)data_ptr,
(USHORT)mb_offset, (USHORT)mb_size,
(LONG)MB_RESPONSE_TIMEOUT );
break;
case MB_FUNC_READ_INPUT_REGISTER:
mb_error = eMBMasterReqReadInputRegister( (UCHAR)mb_slave_addr, (USHORT)mb_offset,
(USHORT)mb_size, (LONG) MB_RESPONSE_TIMEOUT );
break;
default:
ESP_LOGE(MB_MASTER_TAG, "%s: Incorrect function in request (%u) ",
__FUNCTION__, mb_command);
mb_error = MB_MRE_NO_REG;
break;
}
// Propagate the Modbus errors to higher level
switch(mb_error)
{
case MB_MRE_NO_ERR:
error = ESP_OK;
break;
case MB_MRE_NO_REG:
error = ESP_ERR_NOT_SUPPORTED; // Invalid register request
break;
case MB_MRE_TIMEDOUT:
error = ESP_ERR_TIMEOUT; // Slave did not send response
break;
case MB_MRE_EXE_FUN:
case MB_MRE_REV_DATA:
error = ESP_ERR_INVALID_RESPONSE; // Invalid response from slave
break;
case MB_MRE_MASTER_BUSY:
error = ESP_ERR_INVALID_STATE; // Master is busy (previous request is pending)
break;
default:
ESP_LOGE(MB_MASTER_TAG, "%s: Incorrect return code (%x) ", __FUNCTION__, mb_error);
error = ESP_FAIL;
break;
}
return error;
}
static esp_err_t mbc_tcp_master_get_cid_info(uint16_t cid, const mb_parameter_descriptor_t** param_buffer)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_CHECK((param_buffer != NULL), ESP_ERR_INVALID_ARG, "mb incorrect data buffer pointer.");
MB_MASTER_CHECK((mbm_opts->mbm_param_descriptor_table != NULL), ESP_ERR_INVALID_ARG, "mb incorrect descriptor table or not set.");
MB_MASTER_CHECK((cid < mbm_opts->mbm_param_descriptor_size), ESP_ERR_NOT_FOUND, "mb incorrect cid of characteristic.");
// It is assumed that characteristics cid increased in the table
const mb_parameter_descriptor_t* reg_info = &mbm_opts->mbm_param_descriptor_table[cid];
MB_MASTER_CHECK((reg_info->param_key != NULL), ESP_ERR_INVALID_ARG, "mb incorrect characteristic key.");
*param_buffer = reg_info;
return ESP_OK;
}
// Helper function to get modbus command for each type of Modbus register area
static uint8_t mbc_tcp_master_get_command(mb_param_type_t param_type, mb_param_mode_t mode)
{
uint8_t command = 0;
switch(param_type)
{ //
case MB_PARAM_HOLDING:
command = (mode == MB_PARAM_WRITE) ? MB_FUNC_WRITE_MULTIPLE_REGISTERS : MB_FUNC_READ_HOLDING_REGISTER;
break;
case MB_PARAM_INPUT:
command = MB_FUNC_READ_INPUT_REGISTER;
break;
case MB_PARAM_COIL:
command = (mode == MB_PARAM_WRITE) ? MB_FUNC_WRITE_MULTIPLE_COILS : MB_FUNC_READ_COILS;
break;
case MB_PARAM_DISCRETE:
if (mode != MB_PARAM_WRITE) {
command = MB_FUNC_READ_DISCRETE_INPUTS;
} else {
ESP_LOGE(MB_MASTER_TAG, "%s: Incorrect mode (%u)", __FUNCTION__, (uint8_t)mode);
}
break;
default:
ESP_LOGE(MB_MASTER_TAG, "%s: Incorrect param type (%u)", __FUNCTION__, param_type);
break;
}
return command;
}
// Helper function to set parameter buffer according to its type
static esp_err_t mbc_tcp_master_set_param_data(void* dest, void* src, mb_descr_type_t param_type, size_t param_size)
{
esp_err_t err = ESP_OK;
MB_MASTER_CHECK((dest != NULL), ESP_ERR_INVALID_ARG, "incorrect parameter pointer.");
MB_MASTER_CHECK((src != NULL), ESP_ERR_INVALID_ARG, "incorrect parameter pointer.");
// Transfer parameter data into value of characteristic
switch(param_type)
{
case PARAM_TYPE_U8:
*((uint8_t*)dest) = *((uint8_t*)src);
break;
case PARAM_TYPE_U16:
*((uint16_t*)dest) = *((uint16_t*)src);
break;
case PARAM_TYPE_U32:
*((uint32_t*)dest) = *((uint32_t*)src);
break;
case PARAM_TYPE_FLOAT:
*((float*)dest) = *(float*)src;
break;
case PARAM_TYPE_ASCII:
memcpy((void*)dest, (void*)src, (size_t)param_size);
break;
default:
ESP_LOGE(MB_MASTER_TAG, "%s: Incorrect param type (%u).",
__FUNCTION__, (uint16_t)param_type);
err = ESP_ERR_NOT_SUPPORTED;
break;
}
return err;
}
// Helper to search parameter by name in the parameter description table and fills Modbus request fields accordingly
static esp_err_t mbc_tcp_master_set_request(char* name, mb_param_mode_t mode, mb_param_request_t* request,
mb_parameter_descriptor_t* reg_data)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
esp_err_t error = ESP_ERR_NOT_FOUND;
MB_MASTER_CHECK((name != NULL), ESP_ERR_INVALID_ARG, "mb incorrect parameter name.");
MB_MASTER_CHECK((request != NULL), ESP_ERR_INVALID_ARG, "mb incorrect request parameter.");
MB_MASTER_CHECK((mode <= MB_PARAM_WRITE), ESP_ERR_INVALID_ARG, "mb incorrect mode.");
MB_MASTER_ASSERT(mbm_opts->mbm_param_descriptor_table != NULL);
const mb_parameter_descriptor_t* reg_ptr = mbm_opts->mbm_param_descriptor_table;
for (uint16_t counter = 0; counter < (mbm_opts->mbm_param_descriptor_size); counter++, reg_ptr++)
{
// Check the cid of the parameter is equal to record number in the table
// Check the length of name and parameter key strings from table
size_t param_key_len = strlen((const char*)reg_ptr->param_key);
if (param_key_len != strlen((const char*)name)) {
continue; // The length of strings is different then check next record in the table
}
// Compare the name of parameter with parameter key from table
uint8_t comp_result = memcmp((const char*)name, (const char*)reg_ptr->param_key, (size_t)param_key_len);
if (comp_result == 0) {
// The correct line is found in the table and reg_ptr points to the found parameter description
request->slave_addr = reg_ptr->mb_slave_addr;
request->reg_start = reg_ptr->mb_reg_start;
request->reg_size = reg_ptr->mb_size;
request->command = mbc_tcp_master_get_command(reg_ptr->mb_param_type, mode);
MB_MASTER_CHECK((request->command > 0), ESP_ERR_INVALID_ARG, "mb incorrect command or parameter type.");
if (reg_data != NULL) {
*reg_data = *reg_ptr; // Set the cid registered parameter data
}
error = ESP_OK;
break;
}
}
return error;
}
// Get parameter data for corresponding characteristic
static esp_err_t mbc_tcp_master_get_parameter(uint16_t cid, char* name, uint8_t* value, uint8_t *type)
{
MB_MASTER_CHECK((name != NULL), ESP_ERR_INVALID_ARG, "mb incorrect descriptor.");
MB_MASTER_CHECK((type != NULL), ESP_ERR_INVALID_ARG, "type pointer is incorrect.");
esp_err_t error = ESP_ERR_INVALID_RESPONSE;
mb_param_request_t request ;
mb_parameter_descriptor_t reg_info = { 0 };
uint8_t param_buffer[PARAM_MAX_SIZE] = { 0 };
error = mbc_tcp_master_set_request(name, MB_PARAM_READ, &request, &reg_info);
if ((error == ESP_OK) && (cid == reg_info.cid)) {
error = mbc_tcp_master_send_request(&request, &param_buffer[0]);
if (error == ESP_OK) {
// If data pointer is NULL then we don't need to set value (it is still in the cache of cid)
if (value != NULL) {
error = mbc_tcp_master_set_param_data((void*)value, (void*)&param_buffer[0],
reg_info.param_type, reg_info.param_size);
MB_MASTER_CHECK((error == ESP_OK), ESP_ERR_INVALID_STATE, "fail to set parameter data.");
}
ESP_LOGD(MB_MASTER_TAG, "%s: Good response for get cid(%u) = %s",
__FUNCTION__, (int)reg_info.cid, (char*)esp_err_to_name(error));
} else {
ESP_LOGD(MB_MASTER_TAG, "%s: Bad response to get cid(%u) = %s",
__FUNCTION__, reg_info.cid, (char*)esp_err_to_name(error));
}
// Set the type of parameter found in the table
*type = reg_info.param_type;
} else {
ESP_LOGD(MB_MASTER_TAG, "%s: The cid(%u) not found in the data dictionary.",
__FUNCTION__, reg_info.cid);
}
return error;
}
// Set parameter value for characteristic selected by name and cid
static esp_err_t mbc_tcp_master_set_parameter(uint16_t cid, char* name, uint8_t* value, uint8_t *type)
{
MB_MASTER_CHECK((name != NULL), ESP_ERR_INVALID_ARG, "mb incorrect descriptor.");
MB_MASTER_CHECK((value != NULL), ESP_ERR_INVALID_ARG, "value pointer is incorrect.");
MB_MASTER_CHECK((type != NULL), ESP_ERR_INVALID_ARG, "type pointer is incorrect.");
esp_err_t error = ESP_ERR_INVALID_RESPONSE;
mb_param_request_t request ;
mb_parameter_descriptor_t reg_info = { 0 };
uint8_t param_buffer[PARAM_MAX_SIZE] = { 0 };
error = mbc_tcp_master_set_request(name, MB_PARAM_WRITE, &request, &reg_info);
if ((error == ESP_OK) && (cid == reg_info.cid)) {
// Transfer value of characteristic into parameter buffer
error = mbc_tcp_master_set_param_data((void*)&param_buffer[0], (void*)value,
reg_info.param_type, reg_info.param_size);
MB_MASTER_CHECK((error == ESP_OK), ESP_ERR_INVALID_STATE, "failure to set parameter data.");
// Send request to write characteristic data
error = mbc_tcp_master_send_request(&request, &param_buffer[0]);
if (error == ESP_OK) {
ESP_LOGD(MB_MASTER_TAG, "%s: Good response for set cid(%u) = %s",
__FUNCTION__, (int)reg_info.cid, (char*)esp_err_to_name(error));
} else {
ESP_LOGD(MB_MASTER_TAG, "%s: Bad response to set cid(%u) = %s",
__FUNCTION__, reg_info.cid, (char*)esp_err_to_name(error));
}
// Set the type of parameter found in the table
*type = reg_info.param_type;
} else {
ESP_LOGE(MB_MASTER_TAG, "%s: The requested cid(%u) not found in the data dictionary.",
__FUNCTION__, reg_info.cid);
}
return error;
}
/* ----------------------- Callback functions for Modbus stack ---------------------------------*/
// These are executed by modbus stack to read appropriate type of registers.
/**
* Modbus master input register callback function.
*
* @param pucRegBuffer input register buffer
* @param usAddress input register address
* @param usNRegs input register number
*
* @return result
*/
// Callback function for reading of MB Input Registers
eMBErrorCode eMBRegInputCBTcpMaster(UCHAR * pucRegBuffer, USHORT usAddress,
USHORT usNRegs)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_ASSERT(pucRegBuffer != NULL);
USHORT usRegInputNregs = (USHORT)mbm_opts->mbm_reg_buffer_size; // Number of input registers to be transferred
UCHAR* pucInputBuffer = (UCHAR*)mbm_opts->mbm_reg_buffer_ptr; // Get instance address
USHORT usRegs = usNRegs;
eMBErrorCode eStatus = MB_ENOERR;
// If input or configuration parameters are incorrect then return an error to stack layer
if ((pucInputBuffer != NULL)
&& (usNRegs >= 1)
&& (usRegInputNregs == usRegs)) {
while (usRegs > 0) {
_XFER_2_RD(pucInputBuffer, pucRegBuffer);
usRegs -= 1;
}
} else {
eStatus = MB_ENOREG;
}
return eStatus;
}
/**
* Modbus master holding register callback function.
*
* @param pucRegBuffer holding register buffer
* @param usAddress holding register address
* @param usNRegs holding register number
* @param eMode read or write
*
* @return result
*/
// Callback function for reading of MB Holding Registers
// Executed by stack when request to read/write holding registers is received
eMBErrorCode eMBRegHoldingCBTcpMaster(UCHAR * pucRegBuffer, USHORT usAddress,
USHORT usNRegs, eMBRegisterMode eMode)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_ASSERT(pucRegBuffer != NULL);
USHORT usRegHoldingNregs = (USHORT)mbm_opts->mbm_reg_buffer_size;
UCHAR* pucHoldingBuffer = (UCHAR*)mbm_opts->mbm_reg_buffer_ptr;
eMBErrorCode eStatus = MB_ENOERR;
USHORT usRegs = usNRegs;
// Check input and configuration parameters for correctness
if ((pucHoldingBuffer != NULL)
&& (usRegHoldingNregs == usNRegs)
&& (usNRegs >= 1)) {
switch (eMode) {
case MB_REG_WRITE:
while (usRegs > 0) {
_XFER_2_RD(pucRegBuffer, pucHoldingBuffer);
usRegs -= 1;
};
break;
case MB_REG_READ:
while (usRegs > 0) {
_XFER_2_WR(pucHoldingBuffer, pucRegBuffer);
pucHoldingBuffer += 2;
usRegs -= 1;
};
break;
}
} else {
eStatus = MB_ENOREG;
}
return eStatus;
}
/**
* Modbus master coils callback function.
*
* @param pucRegBuffer coils buffer
* @param usAddress coils address
* @param usNCoils coils number
* @param eMode read or write
*
* @return result
*/
// Callback function for reading of MB Coils Registers
eMBErrorCode eMBRegCoilsCBTcpMaster(UCHAR* pucRegBuffer, USHORT usAddress,
USHORT usNCoils, eMBRegisterMode eMode)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_ASSERT(NULL != pucRegBuffer);
USHORT usRegCoilNregs = (USHORT)mbm_opts->mbm_reg_buffer_size;
UCHAR* pucRegCoilsBuf = (UCHAR*)mbm_opts->mbm_reg_buffer_ptr;
eMBErrorCode eStatus = MB_ENOERR;
USHORT iRegIndex;
USHORT usCoils = usNCoils;
usAddress--; // The address is already + 1
if ((usRegCoilNregs >= 1)
&& (pucRegCoilsBuf != NULL)
&& (usNCoils == usRegCoilNregs)) {
iRegIndex = (usAddress % 8);
switch (eMode) {
case MB_REG_WRITE:
while (usCoils > 0) {
UCHAR ucResult = xMBUtilGetBits((UCHAR*)pucRegCoilsBuf, iRegIndex, 1);
xMBUtilSetBits(pucRegBuffer, iRegIndex - (usAddress % 8) , 1, ucResult);
iRegIndex++;
usCoils--;
}
break;
case MB_REG_READ:
while (usCoils > 0) {
UCHAR ucResult = xMBUtilGetBits(pucRegBuffer, iRegIndex - (usAddress % 8), 1);
xMBUtilSetBits((uint8_t*)pucRegCoilsBuf, iRegIndex, 1, ucResult);
iRegIndex++;
usCoils--;
}
break;
} // switch ( eMode )
} else {
// If the configuration or input parameters are incorrect then return error to stack
eStatus = MB_ENOREG;
}
return eStatus;
}
/**
* Modbus master discrete callback function.
*
* @param pucRegBuffer discrete buffer
* @param usAddress discrete address
* @param usNDiscrete discrete number
*
* @return result
*/
// Callback function for reading of MB Discrete Input Registers
eMBErrorCode eMBRegDiscreteCBTcpMaster(UCHAR * pucRegBuffer, USHORT usAddress,
USHORT usNDiscrete)
{
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
MB_MASTER_ASSERT(pucRegBuffer != NULL);
USHORT usRegDiscreteNregs = (USHORT)mbm_opts->mbm_reg_buffer_size;
UCHAR* pucRegDiscreteBuf = (UCHAR*)mbm_opts->mbm_reg_buffer_ptr;
eMBErrorCode eStatus = MB_ENOERR;
USHORT iRegBitIndex, iNReg;
UCHAR* pucDiscreteInputBuf;
iNReg = usNDiscrete / 8 + 1;
pucDiscreteInputBuf = (UCHAR*) pucRegDiscreteBuf;
// It is already plus one in Modbus function method.
usAddress--;
if ((usRegDiscreteNregs >= 1)
&& (pucRegDiscreteBuf != NULL)
&& (usNDiscrete >= 1)) {
iRegBitIndex = (USHORT)(usAddress) % 8; // Get bit index
while (iNReg > 1)
{
xMBUtilSetBits(pucDiscreteInputBuf++, iRegBitIndex, 8, *pucRegBuffer++);
iNReg--;
}
// last discrete
usNDiscrete = usNDiscrete % 8;
// xMBUtilSetBits has bug when ucNBits is zero
if (usNDiscrete != 0)
{
xMBUtilSetBits(pucDiscreteInputBuf, iRegBitIndex, usNDiscrete, *pucRegBuffer++);
}
} else {
eStatus = MB_ENOREG;
}
return eStatus;
}
// Initialization of resources for Modbus TCP master controller
esp_err_t mbc_tcp_master_create(void** handler)
{
// Allocate space for master interface structure
if (mbm_interface_ptr == NULL) {
mbm_interface_ptr = malloc(sizeof(mb_master_interface_t));
}
MB_MASTER_ASSERT(mbm_interface_ptr != NULL);
// Initialize interface properties
mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts;
mbm_opts->port_type = MB_PORT_TCP_MASTER;
vMBPortSetMode((UCHAR)MB_PORT_TCP_MASTER);
mbm_opts->mbm_comm.ip_mode = MB_MODE_TCP;
mbm_opts->mbm_comm.ip_port = MB_TCP_DEFAULT_PORT;
// Initialization of active context of the modbus controller
BaseType_t status = 0;
// Parameter change notification queue
mbm_opts->mbm_event_group = xEventGroupCreate();
MB_MASTER_CHECK((mbm_opts->mbm_event_group != NULL), ESP_ERR_NO_MEM, "mb event group error.");
// Create modbus controller task
status = xTaskCreate((void*)&modbus_tcp_master_task,
"modbus_tcp_master_task",
MB_CONTROLLER_STACK_SIZE,
NULL, // No parameters
MB_CONTROLLER_PRIORITY,
&mbm_opts->mbm_task_handle);
if (status != pdPASS) {
vTaskDelete(mbm_opts->mbm_task_handle);
MB_MASTER_CHECK((status == pdPASS), ESP_ERR_NO_MEM,
"mb controller task creation error, xTaskCreate() returns (0x%x).",
(uint32_t)status);
}
MB_MASTER_ASSERT(mbm_opts->mbm_task_handle != NULL); // The task is created but handle is incorrect
// Initialize public interface methods of the interface
mbm_interface_ptr->init = mbc_tcp_master_create;
mbm_interface_ptr->destroy = mbc_tcp_master_destroy;
mbm_interface_ptr->setup = mbc_tcp_master_setup;
mbm_interface_ptr->start = mbc_tcp_master_start;
mbm_interface_ptr->get_cid_info = mbc_tcp_master_get_cid_info;
mbm_interface_ptr->get_parameter = mbc_tcp_master_get_parameter;
mbm_interface_ptr->send_request = mbc_tcp_master_send_request;
mbm_interface_ptr->set_descriptor = mbc_tcp_master_set_descriptor;
mbm_interface_ptr->set_parameter = mbc_tcp_master_set_parameter;
mbm_interface_ptr->master_reg_cb_discrete = eMBRegDiscreteCBTcpMaster;
mbm_interface_ptr->master_reg_cb_input = eMBRegInputCBTcpMaster;
mbm_interface_ptr->master_reg_cb_holding = eMBRegHoldingCBTcpMaster;
mbm_interface_ptr->master_reg_cb_coils = eMBRegCoilsCBTcpMaster;
*handler = mbm_interface_ptr;
return ESP_OK;
}
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