wip code for extruder master
parent
e8d73df01d
commit
715acd439c
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#include <avr/io.h>
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#include <stdio.h>
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#include "kraftsensor.h"
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#include "modbus.h"
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#include "modbus-master.h"
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int32_t kraftsensor_value;
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uint8_t kraftsensor_valid;
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int32_t kraftsensor_zero_offset = 0/*197700*/;
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void do_kraftsensor(){
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//static int32_t last_read;
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//static int32_t old_value;
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uint16_t m_data[4];
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//int32_t kraftsensor_read;
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/* read 2 16bit values and merge to 32bit signed integer */
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readReg(1,0,2);
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if(wait_receive(2, m_data, 10)){
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kraftsensor_valid = 0;
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printf("modbus error\n\r");
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}
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else{
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kraftsensor_valid = 1;
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int32_t tmp = (uint32_t)m_data[1]<<16;
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tmp |= m_data[0];
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//kraftsensor_value = tmp;
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/* conversion magic to milliNewton */
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kraftsensor_value = (((tmp /* + 539363*/)*9.81)/177.380)+kraftsensor_zero_offset;
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//if(abs(kraftsensor_read - old_value) > 10000){
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// if(abs(last_read - kraftsensor_read) > 10000){
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// kraftsensor_value = old_value;
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// //printf("delta: %ld\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
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// //printf("spike\n");
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// }
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// else{
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// kraftsensor_value = kraftsensor_read;
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// //printf("jump\n");
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// }
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//}
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//else{
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// kraftsensor_value = kraftsensor_read;
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//}
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//last_read = kraftsensor_read;
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//old_value = kraftsensor_value;
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}
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}
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#ifndef _MODBUS_MASTER_H_
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#define _MODBUS_MASTER_H_
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#include <stdint.h>
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#define receiveOkay (modbusGetBusState() & (1<<ReceiveCompleted))
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extern int32_t kraftsensor_value;
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extern uint8_t kraftsensor_valid;
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extern int32_t kraftsensor_zero_offset;
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void do_kraftsensor(void);
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#endif
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include "modbus.h"
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#define receiveOkay (modbusGetBusState() & (1<<ReceiveCompleted))
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void timer2_init()
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{
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TCCR2A = (1<<WGM21); //TIMER0 SET-UP: CTC MODE
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TCCR2B|=(1<<CS21); //prescaler 8
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OCR2A = 200;
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TIMSK2|=(1<<OCIE2A);
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}
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void modbus_master_init(){
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modbusSetAddress(1); //better set this to sth.
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modbusInit();
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timer2_init(); // modbus tick timer
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}
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int8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
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uint8_t breaker = timeout;
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while(!receiveOkay && breaker) { //wait for client response, time out after 1s
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breaker--;
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_delay_ms(1);
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if(breaker==0)
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return -1;
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}
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if(receiveOkay) { //if this fails, there was either no response or a crc error
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if(rxbuffer[1]&0x80) { //client responded with an error code
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//handle the error
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return -1;
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}
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else {
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for(uint8_t x=0;x<len;x++) { //rxbuffer[2] should be 8 (4 registers => 8 bytes). You might want to check this at this point.
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dest[x]=(rxbuffer[3+x*2]<<8)+rxbuffer[4+x*2]; //do sth with the acquired data.
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}
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}
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}
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return 0;
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}
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int8_t wait_write(uint8_t timeout){
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uint8_t breaker = timeout;
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while(!receiveOkay && breaker) { //wait for client response, time out after 1s
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breaker--;
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_delay_ms(1);
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if(breaker==0)
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return -1;
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}
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if(receiveOkay) { //if this fails, there was either no response or a crc error
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if(rxbuffer[1]&0x80) { //client responded with an error code
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return rxbuffer[1]&0x80;
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}
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}
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return 0;
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}
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void readReg(uint8_t slaveid, uint16_t address, uint8_t amount) {
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_delay_ms(2);
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rxbuffer[0]=slaveid;
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modbusSetAddress(slaveid);
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rxbuffer[1]=0x03;
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rxbuffer[2]=(address>>8)&0xFF;
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rxbuffer[3]=address&0xFF;
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rxbuffer[4]=0x00;
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rxbuffer[5]=amount;
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modbusSendMessage(5);
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}
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void writeReg(uint8_t slaveid, uint16_t address, uint16_t value) {
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_delay_ms(2);
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rxbuffer[0]=slaveid;
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modbusSetAddress(slaveid);
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rxbuffer[1]=0x06;
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rxbuffer[2]=(address>>8)&0xFF;
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rxbuffer[3]=address&0xFF;
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rxbuffer[4]=(value>>8)&0xFF;;
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rxbuffer[5]=value&0xFF;
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modbusSendMessage(5);
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}
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void readInputReg(uint8_t slaveid, uint16_t address, uint16_t amount) {
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_delay_ms(2);
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rxbuffer[0]=slaveid;
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modbusSetAddress(slaveid);
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rxbuffer[1]=0x04;
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rxbuffer[2]=(address>>8)&0xFF;
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rxbuffer[3]=address&0xFF;
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rxbuffer[4]=0;
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rxbuffer[5]=amount;
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modbusSendMessage(5);
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}
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void writeCoil(uint8_t slaveid, uint16_t address, uint16_t value) {
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_delay_ms(2);
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rxbuffer[0]=slaveid;
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modbusSetAddress(slaveid);
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rxbuffer[1]=0x05;
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rxbuffer[2]=(address>>8)&0xFF;
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rxbuffer[3]=address&0xFF;
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rxbuffer[4]=value?0xFF:0x00;
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rxbuffer[5]=0;
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modbusSendMessage(5);
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}
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ISR(TIMER2_COMPA_vect) { //this ISR is called 9765.625 times per second
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modbusTickTimer();
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}
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@ -0,0 +1,11 @@
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#include <stdint.h>
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void timer2_init(void);
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void modbus_master_init(void);
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int8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout);
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int8_t wait_write(uint8_t timeout);
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void readReg(uint8_t slaveid, uint16_t address, uint8_t amount);
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void writeReg(uint8_t slaveid, uint16_t address, uint16_t value);
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void readInputReg(uint8_t slaveid, uint16_t address, uint16_t amount);
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void readInputStatus(uint8_t slaveid, uint16_t address, uint16_t amount);
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void writeCoil(uint8_t slaveid, uint16_t address, uint16_t value);
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@ -0,0 +1,436 @@
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/*************************************************************************
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Title: Yet another (small) modbus (server) implementation for the avr.
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Author: Max Brueggemann
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Hardware: any AVR with hardware UART, tested on Atmega 88/168 at 20Mhz
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License: BSD-3-Clause
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DESCRIPTION:
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Refer to the header file yaMBSiavr.h.
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USAGE:
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Refer to the header file yaMBSiavr.h.
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LICENSE:
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Copyright 2017 Max Brueggemann, www.maxbrueggemann.de
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice,
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this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors
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may be used to endorse or promote products derived from this software without
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specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
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THE POSSIBILITY OF SUCH DAMAGE.
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*************************************************************************/
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#include <avr/io.h>
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#include "modbus.h"
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#include <avr/interrupt.h>
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volatile unsigned char BusState = 0;
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volatile uint16_t modbusTimer = 0;
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volatile unsigned char rxbuffer[MaxFrameIndex+1];
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volatile uint16_t DataPos = 0;
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volatile unsigned char PacketTopIndex = 7;
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volatile unsigned char modBusStaMaStates = 0;
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volatile uint16_t modbusDataAmount = 0;
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volatile uint16_t modbusDataLocation = 0;
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/* @brief: save address and amount
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*
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*/
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void modbusSaveLocation(void)
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{
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modbusDataLocation=(rxbuffer[3]|(rxbuffer[2]<<8));
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if (rxbuffer[1]==fcPresetSingleRegister || rxbuffer[1]==fcForceSingleCoil) modbusDataAmount=1;
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else modbusDataAmount=(rxbuffer[5]|(rxbuffer[4]<<8));
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}
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/* @brief: returns 1 if data location adr is touched by current command
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*
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* Arguments: - adr: address of the data object
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*
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*/
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uint8_t modbusIsInRange(uint16_t adr)
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{
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if((modbusDataLocation <= adr) && (adr<(modbusDataLocation+modbusDataAmount)))
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return 1;
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return 0;
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}
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/* @brief: returns 1 if range of data locations is touched by current command
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*
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* Arguments: - startAdr: address of first data object in range
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* - lastAdr: address of last data object in range
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*
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*/
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uint8_t modbusIsRangeInRange(uint16_t startAdr, uint16_t lastAdr)
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{
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if(modbusIsInRange(startAdr) && modbusIsInRange(lastAdr))
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return 1;
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return 0;
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}
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uint8_t modbusGetBusState(void)
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{
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return BusState;
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}
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#if ADDRESS_MODE == SINGLE_ADR
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volatile unsigned char Address = 0x00;
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uint8_t modbusGetAddress(void)
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{
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return Address;
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}
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void modbusSetAddress(unsigned char newadr)
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{
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Address = newadr;
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}
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#endif
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#if PHYSICAL_TYPE == 485
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void transceiver_txen(void)
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{
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TRANSCEIVER_ENABLE_PORT|=(1<<TRANSCEIVER_ENABLE_PIN);
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TRANSCEIVER_ENABLE_PORT|=(1<<TRANSCEIVER_ENABLE_PIN_2);
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}
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void transceiver_rxen(void)
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{
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TRANSCEIVER_ENABLE_PORT&=~(1<<TRANSCEIVER_ENABLE_PIN);
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TRANSCEIVER_ENABLE_PORT&=~(1<<TRANSCEIVER_ENABLE_PIN_2);
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}
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#endif
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/* @brief: A fairly simple Modbus compliant 16 Bit CRC algorithm.
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*
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* Returns 1 if the crc check is positive, returns 0 and saves the calculated CRC bytes
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* at the end of the data array if it fails.
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*
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*/
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uint8_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize) //A standard CRC algorithm
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{
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uint16_t out=0xffff;
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uint16_t carry;
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unsigned char n;
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inputSize++;
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for (int l=0; l<inputSize; l++) {
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out ^= ptrToArray[l];
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for (n = 0; n < 8; n++) {
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carry = out & 1;
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out >>= 1;
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if (carry) out ^= 0xA001;
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}
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}
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//out=0x1234;
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if ((ptrToArray[inputSize]==out%256) && (ptrToArray[inputSize+1]==out/256)) //check
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{
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return 1;
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} else {
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ptrToArray[inputSize]=out%256; //append Lo
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ptrToArray[inputSize+1]=out/256; //append Hi
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return 0;
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}
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}
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/* @brief: copies a single bit from one char to another char (or arrays thereof)
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*
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*
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*/
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void listBitCopy(volatile uint8_t *source, uint16_t sourceNr,volatile uint8_t *target, uint16_t targetNr)
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{
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if(*(source+(sourceNr/8))&(1<<(sourceNr-((sourceNr/8)*8))))
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{
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*(target+(targetNr/8))|=(1<<(targetNr-((targetNr/8)*8)));
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} else *(target+(targetNr/8))&=~(1<<(targetNr-((targetNr/8)*8)));
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}
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/* @brief: Back to receiving state.
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*
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*/
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void modbusReset(void)
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{
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BusState=(1<<TimerActive); //stop receiving (error)
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modbusTimer=0;
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}
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void modbusTickTimer(void)
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{
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if (BusState&(1<<TimerActive))
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{
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modbusTimer++;
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if (BusState&(1<<Receiving)) //we are in receiving mode
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{
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if ((modbusTimer==modbusInterCharTimeout)) {
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BusState|=(1<<GapDetected);
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} else if ((modbusTimer==modbusInterFrameDelayReceiveEnd)) { //end of message
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#if ADDRESS_MODE == MULTIPLE_ADR
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if (crc16(rxbuffer,DataPos-3)) { //perform crc check only. This is for multiple/all address mode.
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modbusSaveLocation();
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BusState=(1<<ReceiveCompleted);
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} else modbusReset();
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#endif
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#if ADDRESS_MODE == SINGLE_ADR
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if (rxbuffer[0]==Address && crc16(rxbuffer,DataPos-3)) { //is the message for us? => perform crc check
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modbusSaveLocation();
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BusState=(1<<ReceiveCompleted);
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} else modbusReset();
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#endif
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}
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} else if (modbusTimer==modbusInterFrameDelayReceiveStart){
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BusState|=(1<<BusTimedOut);
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}
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}
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}
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ISR(UART_RECEIVE_INTERRUPT)
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{
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unsigned char data;
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data = UART_DATA;
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//printf("%x ", data);
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modbusTimer=0; //reset timer
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if (!(BusState & (1<<ReceiveCompleted)) && !(BusState & (1<<TransmitRequested)) && !(BusState & (1<<Transmitting)) && (BusState & (1<<Receiving)) && !(BusState & (1<<BusTimedOut)))
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{
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if (DataPos>MaxFrameIndex) modbusReset();
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else
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{
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rxbuffer[DataPos]=data;
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DataPos++; //TODO: maybe prevent this from exceeding 255?
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}
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} else
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// Bus state is Timed out..
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if (!(BusState & (1<<ReceiveCompleted)) && !(BusState & (1<<TransmitRequested)) && !(BusState & (1<<Transmitting)) && !(BusState & (1<<Receiving)) && (BusState & (1<<BusTimedOut)))
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{
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rxbuffer[0]=data;
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BusState=((1<<Receiving)|(1<<TimerActive));
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DataPos=1;
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}
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}
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ISR(UART_TRANSMIT_INTERRUPT)
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{
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BusState&=~(1<<TransmitRequested);
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BusState|=(1<<Transmitting);
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UART_DATA=rxbuffer[DataPos];
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DataPos++;
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if (DataPos==(PacketTopIndex+1)) {
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UART_CONTROL&=~(1<<UART_UDRIE);
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}
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}
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ISR(UART_TRANSMIT_COMPLETE_INTERRUPT)
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{
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#if PHYSICAL_TYPE == 485
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transceiver_rxen();
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#endif
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modbusReset();
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}
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void modbusInit(void)
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{
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UBRRH = (unsigned char)((_UBRR) >> 8);
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UBRRL = (unsigned char) _UBRR;
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UART_STATUS = (1<<U2X); //double speed mode.
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#ifdef URSEL // if UBRRH and UCSRC share the same I/O location , e.g. ATmega8
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UCSRC = (1<<URSEL)|(3<<UCSZ0); //Frame Size
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#else
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UCSRC = (3<<UCSZ0); //Frame Size
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#endif
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UART_CONTROL = (1<<TXCIE)|(1<<RXCIE)|(1<<RXEN)|(1<<TXEN); // USART receiver and transmitter and receive complete interrupt
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#if PHYSICAL_TYPE == 485
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TRANSCEIVER_ENABLE_PORT_DDR|=(1<<TRANSCEIVER_ENABLE_PIN);
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TRANSCEIVER_ENABLE_PORT_DDR|=(1<<TRANSCEIVER_ENABLE_PIN_2);
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transceiver_rxen();
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#endif
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BusState=(1<<TimerActive);
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}
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/* @brief: Sends a response.
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*
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* Arguments: - packtop: Position of the last byte containing data.
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* modbusSendException is a good usage example.
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*/
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void modbusSendMessage(unsigned char packtop)
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{
|
||||
PacketTopIndex=packtop+2;
|
||||
crc16(rxbuffer,packtop);
|
||||
BusState|=(1<<TransmitRequested);
|
||||
DataPos=0;
|
||||
#if PHYSICAL_TYPE == 485
|
||||
transceiver_txen();
|
||||
#endif
|
||||
UART_CONTROL|=(1<<UART_UDRIE);
|
||||
BusState&=~(1<<ReceiveCompleted);
|
||||
}
|
||||
|
||||
/* @brief: Sends an exception response.
|
||||
*
|
||||
* Arguments: - exceptionCode
|
||||
*
|
||||
*/
|
||||
void modbusSendException(unsigned char exceptionCode)
|
||||
{
|
||||
rxbuffer[1]|=(1<<7); //setting MSB of the function code (the exception flag)
|
||||
rxbuffer[2]=exceptionCode; //Exceptioncode. Also the last byte containing data
|
||||
modbusSendMessage(2);
|
||||
}
|
||||
|
||||
|
||||
/* @brief: Returns the amount of requested data objects (coils, discretes, registers)
|
||||
*
|
||||
*/
|
||||
uint16_t modbusRequestedAmount(void)
|
||||
{
|
||||
return modbusDataAmount;
|
||||
}
|
||||
|
||||
/* @brief: Returns the address of the first requested data object (coils, discretes, registers)
|
||||
*
|
||||
*/
|
||||
uint16_t modbusRequestedAddress(void)
|
||||
{
|
||||
return modbusDataLocation;
|
||||
}
|
||||
|
||||
/* @brief: copies a single or multiple bytes from one array of bytes to an array of 16-bit-words
|
||||
*
|
||||
*/
|
||||
void intToModbusRegister(volatile uint16_t *inreg, volatile uint8_t *outreg, uint8_t amount)
|
||||
{
|
||||
for (uint8_t c=0; c<amount; c++)
|
||||
{
|
||||
*(outreg+c*2) = (uint8_t)(*(inreg+c) >> 8);
|
||||
*(outreg+1+c*2) = (uint8_t)(*(inreg+c));
|
||||
}
|
||||
}
|
||||
|
||||
/* @brief: copies a single or multiple 16-bit-words from one array of integers to an array of bytes
|
||||
*
|
||||
*/
|
||||
void modbusRegisterToInt(volatile uint8_t *inreg, volatile uint16_t *outreg, uint8_t amount)
|
||||
{
|
||||
for (uint8_t c=0; c<amount; c++)
|
||||
{
|
||||
*(outreg+c) = (*(inreg+c*2) << 8) + *(inreg+1+c*2);
|
||||
}
|
||||
}
|
||||
|
||||
/* @brief: Handles single/multiple register reading and single/multiple register writing.
|
||||
*
|
||||
* Arguments: - ptrToInArray: pointer to the user's data array containing registers
|
||||
* - startAddress: address of the first register in the supplied array
|
||||
* - size: input array size in the requested format (16bit-registers)
|
||||
*
|
||||
*/
|
||||
uint8_t modbusExchangeRegisters(volatile uint16_t *ptrToInArray, uint16_t startAddress, uint16_t size)
|
||||
{
|
||||
if ((modbusDataLocation>=startAddress) && ((startAddress+size)>=(modbusDataAmount+modbusDataLocation))) {
|
||||
|
||||
if ((rxbuffer[1]==fcReadHoldingRegisters) || (rxbuffer[1]==fcReadInputRegisters) )
|
||||
{
|
||||
if ((modbusDataAmount*2)<=(MaxFrameIndex-4)) //message buffer big enough?
|
||||
{
|
||||
rxbuffer[2]=(unsigned char)(modbusDataAmount*2);
|
||||
intToModbusRegister(ptrToInArray+(modbusDataLocation-startAddress),rxbuffer+3,modbusDataAmount);
|
||||
modbusSendMessage(2+rxbuffer[2]);
|
||||
return 1;
|
||||
} else modbusSendException(ecIllegalDataValue);
|
||||
}
|
||||
else if (rxbuffer[1]==fcPresetMultipleRegisters)
|
||||
{
|
||||
if (((rxbuffer[6])>=modbusDataAmount*2) && ((DataPos-9)>=rxbuffer[6])) //enough data received?
|
||||
{
|
||||
modbusRegisterToInt(rxbuffer+7,ptrToInArray+(modbusDataLocation-startAddress),(unsigned char)(modbusDataAmount));
|
||||
modbusSendMessage(5);
|
||||
return 1;
|
||||
} else modbusSendException(ecIllegalDataValue);//too few data bytes received
|
||||
}
|
||||
else if (rxbuffer[1]==fcPresetSingleRegister)
|
||||
{
|
||||
modbusRegisterToInt(rxbuffer+4,ptrToInArray+(modbusDataLocation-startAddress),1);
|
||||
modbusSendMessage(5);
|
||||
return 1;
|
||||
}
|
||||
//modbusSendException(ecSlaveDeviceFailure); //inapropriate call of modbusExchangeRegisters
|
||||
return 0;
|
||||
} else {
|
||||
modbusSendException(ecIllegalDataValue);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
/* @brief: Handles single/multiple input/coil reading and single/multiple coil writing.
|
||||
*
|
||||
* Arguments: - ptrToInArray: pointer to the user's data array containing bits
|
||||
* - startAddress: address of the first bit in the supplied array
|
||||
* - size: input array size in the requested format (bits)
|
||||
*
|
||||
*/
|
||||
uint8_t modbusExchangeBits(volatile uint8_t *ptrToInArray, uint16_t startAddress, uint16_t size)
|
||||
{
|
||||
if ((modbusDataLocation>=startAddress) && ((startAddress+size)>=(modbusDataAmount+modbusDataLocation)))
|
||||
{
|
||||
if ((rxbuffer[1]==fcReadInputStatus) || (rxbuffer[1]==fcReadCoilStatus))
|
||||
{
|
||||
if (modbusDataAmount<=((MaxFrameIndex-4)*8)) //message buffer big enough?
|
||||
{
|
||||
rxbuffer[2]=(modbusDataAmount/8);
|
||||
if (modbusDataAmount%8>0)
|
||||
{
|
||||
rxbuffer[(uint8_t)(modbusDataAmount/8)+3]=0x00; //fill last data byte with zeros
|
||||
rxbuffer[2]++;
|
||||
}
|
||||
for (uint16_t c = 0; c<modbusDataAmount; c++)
|
||||
{
|
||||
listBitCopy(ptrToInArray,modbusDataLocation-startAddress+c,rxbuffer+3,c);
|
||||
}
|
||||
modbusSendMessage(rxbuffer[2]+2);
|
||||
return 1;
|
||||
} else modbusSendException(ecIllegalDataValue); //too many bits requested within single request
|
||||
}
|
||||
else if (rxbuffer[1]==fcForceMultipleCoils)
|
||||
{
|
||||
if (((rxbuffer[6]*8)>=modbusDataAmount) && ((DataPos-9)>=rxbuffer[6])) //enough data received?
|
||||
{
|
||||
for (uint16_t c = 0; c<modbusDataAmount; c++)
|
||||
{
|
||||
listBitCopy(rxbuffer+7,c,ptrToInArray,modbusDataLocation-startAddress+c);
|
||||
}
|
||||
modbusSendMessage(5);
|
||||
return 1;
|
||||
} else modbusSendException(ecIllegalDataValue);//exception too few data bytes received
|
||||
}
|
||||
else if (rxbuffer[1]==fcForceSingleCoil) {
|
||||
listBitCopy(rxbuffer+4,0,ptrToInArray,modbusDataLocation-startAddress);
|
||||
modbusSendMessage(5);
|
||||
return 1;
|
||||
}
|
||||
//modbusSendException(ecSlaveDeviceFailure); //inanpropriate call of modbusExchangeBits
|
||||
return 0;
|
||||
} else
|
||||
{
|
||||
modbusSendException(ecIllegalDataValue);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
@ -0,0 +1,421 @@
|
||||
#ifndef yaMBIavr_H
|
||||
#define yaMBIavr_H
|
||||
/************************************************************************
|
||||
Title: Yet another (small) Modbus (server) implementation for the avr.
|
||||
Author: Max Brueggemann
|
||||
Hardware: any AVR with hardware UART, tested on Atmega 88/168 at 20Mhz
|
||||
License: BSD-3-Clause
|
||||
|
||||
LICENSE:
|
||||
|
||||
Copyright 2017 Max Brueggemann, www.maxbrueggemann.de
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
|
||||
1. Redistributions of source code must retain the above copyright notice,
|
||||
this list of conditions and the following disclaimer.
|
||||
|
||||
2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
this list of conditions and the following disclaimer in the documentation
|
||||
and/or other materials provided with the distribution.
|
||||
|
||||
3. Neither the name of the copyright holder nor the names of its contributors
|
||||
may be used to endorse or promote products derived from this software without
|
||||
specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
|
||||
THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
************************************************************************/
|
||||
#include <avr/io.h>
|
||||
/**
|
||||
* @code #include <yaMBSIavr.h> @endcode
|
||||
*
|
||||
* @brief Interrupt-based Modbus implementation for small avr microcontrollers.
|
||||
* The Modbus implementation guidelines at modbus.org call for response
|
||||
* timeouts in the range of several seconds , hence only timing critical
|
||||
* parts have been implemented within ISRs. The actual handling of the Modbus
|
||||
* frame can easily be done in the main while loop.
|
||||
*
|
||||
* @author Max Brueggemann www.maxbrueggemann.de
|
||||
*/
|
||||
|
||||
/* define baudrate of modbus */
|
||||
#ifndef BAUD
|
||||
#define BAUD 38400L
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Definitions for transceiver enable pin.
|
||||
*/
|
||||
#ifndef TRANSCEIVER_ENABLE_PORT
|
||||
#define TRANSCEIVER_ENABLE_PORT PORTJ
|
||||
#endif
|
||||
|
||||
#ifndef TRANSCEIVER_ENABLE_PIN
|
||||
#define TRANSCEIVER_ENABLE_PIN 6
|
||||
#define TRANSCEIVER_ENABLE_PIN_2 5
|
||||
#endif
|
||||
|
||||
#ifndef TRANSCEIVER_ENABLE_PORT_DDR
|
||||
#define TRANSCEIVER_ENABLE_PORT_DDR DDRJ
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief
|
||||
* At the moment the user has to set the value for Baudrate and
|
||||
* speed mode manually. The values depend on the operating frequency
|
||||
* of your AVR and can be found in its datasheet.
|
||||
*/
|
||||
#if defined(__AVR_ATtiny2313__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TX_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART_RX_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect
|
||||
#define UART_STATUS UCSRA
|
||||
#define UART_CONTROL UCSRB
|
||||
#define UART_DATA UDR
|
||||
#define UART_UDRIE UDRIE
|
||||
|
||||
#elif defined(__AVR_ATmega164P__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART1_TX_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART1_RX_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART1_UDRE_vect
|
||||
#define UART_STATUS UCSR1A
|
||||
#define UART_CONTROL UCSR1B
|
||||
#define UART_DATA UDR1
|
||||
#define UART_UDRIE UDRIE1
|
||||
#define UCSRC UCSR1C
|
||||
#define RXCIE RXCIE1
|
||||
#define TXCIE TXCIE1
|
||||
#define RXEN RXEN1
|
||||
#define TXEN TXEN1
|
||||
#define UCSZ0 UCSZ10
|
||||
#define U2X U2X1
|
||||
#define UBRRH UBRR1H
|
||||
#define UBRRL UBRR1L
|
||||
|
||||
#elif defined(__AVR_ATmega168PA__)|(__AVR_ATmega88PA__)|(__AVR_ATmega328P__)|(__AVR_ATmega168P__)|(__AVR_ATmega88P__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TX_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART_RX_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect
|
||||
#define UART_STATUS UCSR0A
|
||||
#define UART_CONTROL UCSR0B
|
||||
#define UART_DATA UDR0
|
||||
#define UART_UDRIE UDRIE0
|
||||
#define UCSRC UCSR0C
|
||||
#define RXCIE RXCIE0
|
||||
#define TXCIE TXCIE0
|
||||
#define RXEN RXEN0
|
||||
#define TXEN TXEN0
|
||||
#define UCSZ0 UCSZ00
|
||||
#define U2X U2X0
|
||||
#define UBRRH UBRR0H
|
||||
#define UBRRL UBRR0L
|
||||
|
||||
#elif defined(__AVR_ATmega328PB__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART0_TX_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART0_RX_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART0_UDRE_vect
|
||||
#define UART_STATUS UCSR0A
|
||||
#define UART_CONTROL UCSR0B
|
||||
#define UART_DATA UDR0
|
||||
#define UART_UDRIE UDRIE0
|
||||
#define UCSRC UCSR0C
|
||||
#define RXCIE RXCIE0
|
||||
#define TXCIE TXCIE0
|
||||
#define RXEN RXEN0
|
||||
#define TXEN TXEN0
|
||||
#define UCSZ0 UCSZ00
|
||||
#define U2X U2X0
|
||||
#define UBRRH UBRR0H
|
||||
#define UBRRL UBRR0L
|
||||
|
||||
#elif defined(__AVR_ATtiny441__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART0_TX_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART0_RX_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART0_UDRE_vect
|
||||
#define UART_STATUS UCSR0A
|
||||
#define UART_CONTROL UCSR0B
|
||||
#define UART_DATA UDR0
|
||||
#define UART_UDRIE UDRIE0
|
||||
#define UCSRC UCSR0C
|
||||
#define RXCIE RXCIE0
|
||||
#define TXCIE TXCIE0
|
||||
#define RXEN RXEN0
|
||||
#define TXEN TXEN0
|
||||
#define UCSZ0 UCSZ00
|
||||
#define U2X U2X0
|
||||
#define UBRRH UBRR0H
|
||||
#define UBRRL UBRR0L
|
||||
|
||||
#elif defined(__AVR_ATmega8__)|| defined(__AVR_ATmega16__) || defined(__AVR_ATmega32__) || defined(__AVR_ATmega323__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TXC_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART_RXC_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect
|
||||
#define UART_STATUS UCSRA
|
||||
#define UART_CONTROL UCSRB
|
||||
#define UART_DATA UDR
|
||||
#define UART_UDRIE UDRIE
|
||||
|
||||
#elif defined(__AVR_AT90PWM3B__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TX_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART_RX_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect
|
||||
#define UART_STATUS UCSRA
|
||||
#define UART_CONTROL UCSRB
|
||||
#define UART_DATA UDR
|
||||
#define UART_UDRIE UDRIE
|
||||
|
||||
#elif defined(__AVR_ATmega1284P__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART0_TX_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART0_RX_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART0_UDRE_vect
|
||||
#define UART_STATUS UCSR0A
|
||||
#define UART_CONTROL UCSR0B
|
||||
#define UART_DATA UDR0
|
||||
#define UART_UDRIE UDRIE0
|
||||
#define UCSRC UCSR0C
|
||||
#define RXCIE RXCIE0
|
||||
#define TXCIE TXCIE0
|
||||
#define RXEN RXEN0
|
||||
#define TXEN TXEN0
|
||||
#define UCSZ0 UCSZ00
|
||||
#define U2X U2X0
|
||||
#define UBRRH UBRR0H
|
||||
#define UBRRL UBRR0L
|
||||
|
||||
#elif defined(__AVR_ATmega2560__)
|
||||
#define UART_TRANSMIT_COMPLETE_INTERRUPT USART3_TX_vect
|
||||
#define UART_RECEIVE_INTERRUPT USART3_RX_vect
|
||||
#define UART_TRANSMIT_INTERRUPT USART3_UDRE_vect
|
||||
#define UART_STATUS UCSR3A
|
||||
#define UART_CONTROL UCSR3B
|
||||
#define UART_DATA UDR3
|
||||
#define UART_UDRIE UDRIE3
|
||||
#define UCSRC UCSR3C
|
||||
#define RXCIE RXCIE3
|
||||
#define TXCIE TXCIE3
|
||||
#define RXEN RXEN3
|
||||
#define TXEN TXEN3
|
||||
#define UCSZ0 UCSZ30
|
||||
#define U2X U2X0
|
||||
#define UBRRH UBRR3H
|
||||
#define UBRRL UBRR3L
|
||||
|
||||
#else
|
||||
#error "no definition available"
|
||||
#endif
|
||||
|
||||
#ifndef F_CPU
|
||||
#error " F_CPU not defined "
|
||||
#else
|
||||
#define _UBRR (F_CPU / 8 / BAUD ) -1
|
||||
#endif /* F_CPU */
|
||||
/*
|
||||
* Available address modes.
|
||||
*/
|
||||
#define MULTIPLE_ADR 2
|
||||
#define SINGLE_ADR 1
|
||||
|
||||
/*
|
||||
* Use SINGLE_ADR or MULTIPLE_ADR, default: SINGLE_ADR
|
||||
* This is useful for building gateways, routers or clients that for whatever reason need multiple addresses.
|
||||
*/
|
||||
#define ADDRESS_MODE SINGLE_ADR
|
||||
|
||||
/*
|
||||
* Use 485 or 232, default: 485
|
||||
* Use 232 for testing purposes or very simple applications that do not require RS485 and bus topology.
|
||||
*/
|
||||
#define PHYSICAL_TYPE 485 //possible values: 485, 232
|
||||
|
||||
#if BAUD>=19200
|
||||
#define modbusInterFrameDelayReceiveStart 16
|
||||
#define modbusInterFrameDelayReceiveEnd 18
|
||||
#define modbusInterCharTimeout 7
|
||||
#else
|
||||
#define modbusBlocksize 10
|
||||
#define modbusBlockTime ((float)modbusBlocksize*1000000)/((float) BAUD) //is 260 for 38400
|
||||
#define timerISROccurenceTime 100 //time in microseconds between two calls of modbusTickTimer
|
||||
#define modbusInterFrameDelayReceiveStart (uint16_t)(modbusBlockTime*3.5/(float)timerISROccurenceTime)
|
||||
#define modbusInterFrameDelayReceiveEnd (uint16_t)(modbusBlockTime*4/(float)timerISROccurenceTime)
|
||||
#define modbusInterCharTimeout (uint16_t)(modbusBlockTime*1.5/(float)timerISROccurenceTime)
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
* @brief Defines the maximum Modbus frame size accepted by the device. 255 is the default
|
||||
* and also the maximum value. However, it might be useful to set this to lower
|
||||
* values, with 8 being the lowest possible value, in order to save on ram space.
|
||||
*/
|
||||
#define MaxFrameIndex 255
|
||||
|
||||
/**
|
||||
* @brief Modbus Function Codes
|
||||
* Refer to modbus.org for further information.
|
||||
* It's good practice to return exception code 01 in case you receive a function code
|
||||
* that you haven't implemented in your application.
|
||||
*/
|
||||
#define fcReadCoilStatus 1 //read single/multiple coils
|
||||
#define fcReadInputStatus 2 //read single/multiple inputs
|
||||
#define fcReadHoldingRegisters 3 //read analog output registers
|
||||
#define fcReadInputRegisters 4 //read analog input registers (2 Bytes per register)
|
||||
#define fcForceSingleCoil 5 //write single bit
|
||||
#define fcPresetSingleRegister 6 //write analog output register (2 Bytes)
|
||||
#define fcForceMultipleCoils 15 //write multiple bits
|
||||
#define fcPresetMultipleRegisters 16 //write multiple analog output registers (2 Bytes each)
|
||||
#define fcReportSlaveID 17 //read device description, run status and other device specific information
|
||||
|
||||
/**
|
||||
* @brief Modbus Exception Codes
|
||||
* Refer to modbus.org for further information.
|
||||
* It's good practice to return exception code 01 in case you receive a function code
|
||||
* that you haven't implemented in your application.
|
||||
*/
|
||||
#define ecIllegalFunction 1
|
||||
#define ecIllegalDataAddress 2
|
||||
#define ecIllegalDataValue 3
|
||||
#define ecSlaveDeviceFailure 4
|
||||
#define ecAcknowledge 5
|
||||
#define ecSlaveDeviceBusy 6
|
||||
#define ecNegativeAcknowledge 7
|
||||
#define ecMemoryParityError 8
|
||||
|
||||
/**
|
||||
* @brief Internal bit definitions
|
||||
*/
|
||||
#define BusTimedOut 0
|
||||
#define Receiving 1
|
||||
#define Transmitting 2
|
||||
#define ReceiveCompleted 3
|
||||
#define TransmitRequested 4
|
||||
#define TimerActive 5
|
||||
#define GapDetected 6
|
||||
|
||||
/**
|
||||
* @brief Configures the UART. Call this function only once.
|
||||
*/
|
||||
extern void modbusInit(void);
|
||||
|
||||
/**
|
||||
* @brief receive/transmit data array
|
||||
*/
|
||||
extern volatile unsigned char rxbuffer[MaxFrameIndex+1];
|
||||
|
||||
/**
|
||||
* @brief Current receive/transmit position
|
||||
*/
|
||||
extern volatile uint16_t DataPos;
|
||||
|
||||
/**
|
||||
* This only applies to single address mode.
|
||||
*/
|
||||
#if ADDRESS_MODE == SINGLE_ADR
|
||||
/**
|
||||
* @brief: Read the device address
|
||||
*/
|
||||
extern uint8_t modbusGetAddress(void);
|
||||
|
||||
/**
|
||||
* @brief: Set the device address
|
||||
* Arguments: - newadr: the new device address
|
||||
*/
|
||||
extern void modbusSetAddress(unsigned char newadr);
|
||||
#endif
|
||||
|
||||
/* @brief: Sends a response.
|
||||
*
|
||||
* Arguments: - packtop, index of the last byte in rxbuffer
|
||||
* that contains payload. Maximum value is
|
||||
* MaxFrameIndex-2.
|
||||
*/
|
||||
extern void modbusSendMessage(unsigned char packtop);
|
||||
|
||||
/* @brief: Sends a Modbus exception.
|
||||
*
|
||||
* Arguments: - exceptionCode
|
||||
*/
|
||||
extern void modbusSendException(unsigned char exceptionCode);
|
||||
|
||||
/* @brief: Discards the current transaction. For MULTIPLE_ADR-mode and general
|
||||
* testing purposes. Call this function if you don't want to reply at all.
|
||||
*/
|
||||
void modbusReset(void);
|
||||
|
||||
/**
|
||||
* @brief Call this function whenever possible and check if its return value has the ReceiveCompleted Bit set.
|
||||
* Preferably do this in the main while. I do not recommend calling this function within ISRs.
|
||||
* @example if (modbusGetBusState() & (1<<ReceiveCompleted)) {
|
||||
* modbusSendExcepton(ecIllegalFunction);
|
||||
* }
|
||||
*/
|
||||
extern uint8_t modbusGetBusState(void);
|
||||
|
||||
/**
|
||||
* @brief Call every 100us using a timer ISR.
|
||||
*/
|
||||
extern void modbusTickTimer(void);
|
||||
|
||||
/**
|
||||
* @brief Returns amount of bits/registers requested.
|
||||
*/
|
||||
extern uint16_t modbusRequestedAmount(void);
|
||||
|
||||
/**
|
||||
* @brief Returns the address of the first requested bit/register.
|
||||
*/
|
||||
extern uint16_t modbusRequestedAddress(void);
|
||||
|
||||
/* A fairly simple and hopefully Modbus compliant 16 Bit CRC algorithm.
|
||||
* Returns 1 if the crc check is positive, returns 0 if it fails.
|
||||
* Appends two crc bytes to the array.
|
||||
*/
|
||||
extern uint8_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize);
|
||||
|
||||
/* @brief: Handles single/multiple input/coil reading and single/multiple coil writing.
|
||||
*
|
||||
* Arguments: - ptrToInArray: pointer to the user's data array containing bits
|
||||
* - startAddress: address of the first bit in the supplied array
|
||||
* - size: input array size in the requested format (bits)
|
||||
*
|
||||
*/
|
||||
extern uint8_t modbusExchangeBits(volatile uint8_t *ptrToInArray, uint16_t startAddress, uint16_t size);
|
||||
|
||||
/* @brief: Handles single/multiple register reading and single/multiple register writing.
|
||||
*
|
||||
* Arguments: - ptrToInArray: pointer to the user's data array containing registers
|
||||
* - startAddress: address of the first register in the supplied array
|
||||
* - size: input array size in the requested format (16bit-registers)
|
||||
*
|
||||
*/
|
||||
extern uint8_t modbusExchangeRegisters(volatile uint16_t *ptrToInArray, uint16_t startAddress, uint16_t size);
|
||||
|
||||
/* @brief: returns 1 if data location adr is touched by current command
|
||||
*
|
||||
* Arguments: - adr: address of the data object
|
||||
*
|
||||
*/
|
||||
extern uint8_t modbusIsInRange(uint16_t adr);
|
||||
|
||||
/* @brief: returns 1 if range of data locations is touched by current command
|
||||
*
|
||||
* Arguments: - startAdr: address of first data object in range
|
||||
* - lastAdr: address of last data object in range
|
||||
*
|
||||
*/
|
||||
extern uint8_t modbusIsRangeInRange(uint16_t startAdr, uint16_t lastAdr);
|
||||
|
||||
extern volatile uint16_t modbusDataAmount;
|
||||
extern volatile uint16_t modbusDataLocation;
|
||||
#endif
|
||||
|
||||
Reference in New Issue