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421 lines
14 KiB
C
421 lines
14 KiB
C
#ifndef yaMBIavr_H
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#define yaMBIavr_H
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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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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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/**
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* @code #include <yaMBSIavr.h> @endcode
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*
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* @brief Interrupt-based Modbus implementation for small avr microcontrollers.
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* The Modbus implementation guidelines at modbus.org call for response
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* timeouts in the range of several seconds , hence only timing critical
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* parts have been implemented within ISRs. The actual handling of the Modbus
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* frame can easily be done in the main while loop.
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*
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* @author Max Brueggemann www.maxbrueggemann.de
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*/
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/* define baudrate of modbus */
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#ifndef BAUD
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#define BAUD 115200L
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#endif
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/*
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* Definitions for transceiver enable pin.
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*/
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#ifndef TRANSCEIVER_ENABLE_PORT
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#define TRANSCEIVER_ENABLE_PORT PORTD
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#endif
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#ifndef TRANSCEIVER_ENABLE_PIN
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#define TRANSCEIVER_ENABLE_PIN 2
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#endif
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#ifndef TRANSCEIVER_ENABLE_PORT_DDR
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#define TRANSCEIVER_ENABLE_PORT_DDR DDRD
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#endif
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/**
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* @brief
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* At the moment the user has to set the value for Baudrate and
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* speed mode manually. The values depend on the operating frequency
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* of your AVR and can be found in its datasheet.
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*/
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#if defined(__AVR_ATtiny2313__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TX_vect
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#define UART_RECEIVE_INTERRUPT USART_RX_vect
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#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect
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#define UART_STATUS UCSRA
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#define UART_CONTROL UCSRB
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#define UART_DATA UDR
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#define UART_UDRIE UDRIE
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#elif defined(__AVR_ATmega164P__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART1_TX_vect
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#define UART_RECEIVE_INTERRUPT USART1_RX_vect
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#define UART_TRANSMIT_INTERRUPT USART1_UDRE_vect
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#define UART_STATUS UCSR1A
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#define UART_CONTROL UCSR1B
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#define UART_DATA UDR1
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#define UART_UDRIE UDRIE1
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#define UCSRC UCSR1C
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#define RXCIE RXCIE1
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#define TXCIE TXCIE1
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#define RXEN RXEN1
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#define TXEN TXEN1
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#define UCSZ0 UCSZ10
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#define U2X U2X1
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#define UBRRH UBRR1H
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#define UBRRL UBRR1L
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#elif defined(__AVR_ATmega168PA__)|(__AVR_ATmega88PA__)|(__AVR_ATmega328P__)|(__AVR_ATmega168P__)|(__AVR_ATmega88P__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TX_vect
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#define UART_RECEIVE_INTERRUPT USART_RX_vect
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#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect
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#define UART_STATUS UCSR0A
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#define UART_CONTROL UCSR0B
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#define UART_DATA UDR0
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#define UART_UDRIE UDRIE0
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#define UCSRC UCSR0C
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#define RXCIE RXCIE0
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#define TXCIE TXCIE0
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#define RXEN RXEN0
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#define TXEN TXEN0
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#define UCSZ0 UCSZ00
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#define U2X U2X0
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#define UBRRH UBRR0H
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#define UBRRL UBRR0L
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#elif defined(__AVR_ATmega328PB__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART0_TX_vect
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#define UART_RECEIVE_INTERRUPT USART0_RX_vect
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#define UART_TRANSMIT_INTERRUPT USART0_UDRE_vect
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#define UART_STATUS UCSR0A
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#define UART_CONTROL UCSR0B
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#define UART_DATA UDR0
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#define UART_UDRIE UDRIE0
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#define UCSRC UCSR0C
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#define RXCIE RXCIE0
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#define TXCIE TXCIE0
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#define RXEN RXEN0
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#define TXEN TXEN0
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#define UCSZ0 UCSZ00
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#define U2X U2X0
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#define UBRRH UBRR0H
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#define UBRRL UBRR0L
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#elif defined(__AVR_ATtiny441__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART0_TX_vect
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#define UART_RECEIVE_INTERRUPT USART0_RX_vect
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#define UART_TRANSMIT_INTERRUPT USART0_UDRE_vect
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#define UART_STATUS UCSR0A
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#define UART_CONTROL UCSR0B
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#define UART_DATA UDR0
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#define UART_UDRIE UDRIE0
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#define UCSRC UCSR0C
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#define RXCIE RXCIE0
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#define TXCIE TXCIE0
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#define RXEN RXEN0
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#define TXEN TXEN0
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#define UCSZ0 UCSZ00
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#define U2X U2X0
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#define UBRRH UBRR0H
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#define UBRRL UBRR0L
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#elif defined(__AVR_ATmega8__)|| defined(__AVR_ATmega16__) || defined(__AVR_ATmega32__) || defined(__AVR_ATmega323__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TXC_vect
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#define UART_RECEIVE_INTERRUPT USART_RXC_vect
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#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect
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#define UART_STATUS UCSRA
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#define UART_CONTROL UCSRB
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#define UART_DATA UDR
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#define UART_UDRIE UDRIE
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#elif defined(__AVR_AT90PWM3B__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TX_vect
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#define UART_RECEIVE_INTERRUPT USART_RX_vect
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#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect
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#define UART_STATUS UCSRA
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#define UART_CONTROL UCSRB
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#define UART_DATA UDR
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#define UART_UDRIE UDRIE
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#elif defined(__AVR_ATmega1284P__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART0_TX_vect
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#define UART_RECEIVE_INTERRUPT USART0_RX_vect
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#define UART_TRANSMIT_INTERRUPT USART0_UDRE_vect
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#define UART_STATUS UCSR0A
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#define UART_CONTROL UCSR0B
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#define UART_DATA UDR0
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#define UART_UDRIE UDRIE0
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#define UCSRC UCSR0C
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#define RXCIE RXCIE0
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#define TXCIE TXCIE0
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#define RXEN RXEN0
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#define TXEN TXEN0
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#define UCSZ0 UCSZ00
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#define U2X U2X0
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#define UBRRH UBRR0H
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#define UBRRL UBRR0L
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#elif defined(__AVR_ATmega2560__)
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#define UART_TRANSMIT_COMPLETE_INTERRUPT USART3_TX_vect
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#define UART_RECEIVE_INTERRUPT USART3_RX_vect
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#define UART_TRANSMIT_INTERRUPT USART3_UDRE_vect
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#define UART_STATUS UCSR3A
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#define UART_CONTROL UCSR3B
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#define UART_DATA UDR3
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#define UART_UDRIE UDRIE3
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#define UCSRC UCSR3C
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#define RXCIE RXCIE3
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#define TXCIE TXCIE3
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#define RXEN RXEN3
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#define TXEN TXEN3
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#define UCSZ0 UCSZ30
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#define U2X U2X0
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#define UBRRH UBRR3H
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#define UBRRL UBRR3L
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#else
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#error "no definition available"
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#endif
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#ifndef F_CPU
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#error " F_CPU not defined "
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#else
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#define _UBRR (F_CPU / 8 / BAUD ) -1
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#endif /* F_CPU */
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/*
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* Available address modes.
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*/
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#define MULTIPLE_ADR 2
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#define SINGLE_ADR 1
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/*
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* Use SINGLE_ADR or MULTIPLE_ADR, default: SINGLE_ADR
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* This is useful for building gateways, routers or clients that for whatever reason need multiple addresses.
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*/
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#define ADDRESS_MODE SINGLE_ADR
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/*
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* Use 485 or 232, default: 485
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* Use 232 for testing purposes or very simple applications that do not require RS485 and bus topology.
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*/
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#define PHYSICAL_TYPE 485 //possible values: 485, 232
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#if BAUD>=19200
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#define modbusInterFrameDelayReceiveStart 16
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#define modbusInterFrameDelayReceiveEnd 18
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#define modbusInterCharTimeout 7
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#else
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#define modbusBlocksize 10
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#define modbusBlockTime ((float)modbusBlocksize*1000000)/((float) BAUD) //is 260 for 38400
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#define timerISROccurenceTime 100 //time in microseconds between two calls of modbusTickTimer
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#define modbusInterFrameDelayReceiveStart (uint16_t)(modbusBlockTime*3.5/(float)timerISROccurenceTime)
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#define modbusInterFrameDelayReceiveEnd (uint16_t)(modbusBlockTime*4/(float)timerISROccurenceTime)
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#define modbusInterCharTimeout (uint16_t)(modbusBlockTime*1.5/(float)timerISROccurenceTime)
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#endif
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/**
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* @brief Defines the maximum Modbus frame size accepted by the device. 255 is the default
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* and also the maximum value. However, it might be useful to set this to lower
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* values, with 8 being the lowest possible value, in order to save on ram space.
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*/
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#define MaxFrameIndex 255
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/**
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* @brief Modbus Function Codes
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* Refer to modbus.org for further information.
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* It's good practice to return exception code 01 in case you receive a function code
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* that you haven't implemented in your application.
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*/
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#define fcReadCoilStatus 1 //read single/multiple coils
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#define fcReadInputStatus 2 //read single/multiple inputs
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#define fcReadHoldingRegisters 3 //read analog output registers
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#define fcReadInputRegisters 4 //read analog input registers (2 Bytes per register)
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#define fcForceSingleCoil 5 //write single bit
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#define fcPresetSingleRegister 6 //write analog output register (2 Bytes)
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#define fcForceMultipleCoils 15 //write multiple bits
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#define fcPresetMultipleRegisters 16 //write multiple analog output registers (2 Bytes each)
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#define fcReportSlaveID 17 //read device description, run status and other device specific information
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/**
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* @brief Modbus Exception Codes
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* Refer to modbus.org for further information.
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* It's good practice to return exception code 01 in case you receive a function code
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* that you haven't implemented in your application.
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*/
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#define ecIllegalFunction 1
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#define ecIllegalDataAddress 2
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#define ecIllegalDataValue 3
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#define ecSlaveDeviceFailure 4
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#define ecAcknowledge 5
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#define ecSlaveDeviceBusy 6
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#define ecNegativeAcknowledge 7
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#define ecMemoryParityError 8
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/**
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* @brief Internal bit definitions
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*/
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#define BusTimedOut 0
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#define Receiving 1
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#define Transmitting 2
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#define ReceiveCompleted 3
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#define TransmitRequested 4
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#define TimerActive 5
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#define GapDetected 6
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/**
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* @brief Configures the UART. Call this function only once.
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*/
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extern void modbusInit(void);
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/**
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* @brief receive/transmit data array
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*/
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extern volatile unsigned char rxbuffer[MaxFrameIndex+1];
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/**
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* @brief Current receive/transmit position
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*/
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extern volatile uint16_t DataPos;
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/**
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* This only applies to single address mode.
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*/
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#if ADDRESS_MODE == SINGLE_ADR
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/**
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* @brief: Read the device address
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*/
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extern uint8_t modbusGetAddress(void);
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/**
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* @brief: Set the device address
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* Arguments: - newadr: the new device address
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*/
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extern void modbusSetAddress(unsigned char newadr);
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#endif
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/* @brief: Sends a response.
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*
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* Arguments: - packtop, index of the last byte in rxbuffer
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* that contains payload. Maximum value is
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* MaxFrameIndex-2.
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*/
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extern void modbusSendMessage(unsigned char packtop);
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/* @brief: Sends a Modbus exception.
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*
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* Arguments: - exceptionCode
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*/
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extern void modbusSendException(unsigned char exceptionCode);
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/* @brief: Discards the current transaction. For MULTIPLE_ADR-mode and general
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* testing purposes. Call this function if you don't want to reply at all.
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*/
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void modbusReset(void);
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/**
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* @brief Call this function whenever possible and check if its return value has the ReceiveCompleted Bit set.
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* Preferably do this in the main while. I do not recommend calling this function within ISRs.
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* @example if (modbusGetBusState() & (1<<ReceiveCompleted)) {
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* modbusSendExcepton(ecIllegalFunction);
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* }
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*/
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extern uint8_t modbusGetBusState(void);
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/**
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* @brief Call every 100us using a timer ISR.
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*/
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extern void modbusTickTimer(void);
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/**
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* @brief Returns amount of bits/registers requested.
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*/
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extern uint16_t modbusRequestedAmount(void);
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/**
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* @brief Returns the address of the first requested bit/register.
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*/
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extern uint16_t modbusRequestedAddress(void);
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/* A fairly simple and hopefully Modbus compliant 16 Bit CRC algorithm.
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* Returns 1 if the crc check is positive, returns 0 if it fails.
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* Appends two crc bytes to the array.
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*/
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extern uint8_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize);
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/* @brief: Handles single/multiple input/coil reading and single/multiple coil writing.
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*
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* Arguments: - ptrToInArray: pointer to the user's data array containing bits
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* - startAddress: address of the first bit in the supplied array
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* - size: input array size in the requested format (bits)
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*
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*/
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extern uint8_t modbusExchangeBits(volatile uint8_t *ptrToInArray, uint16_t startAddress, uint16_t size);
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/* @brief: Handles single/multiple register reading and single/multiple register writing.
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*
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* Arguments: - ptrToInArray: pointer to the user's data array containing registers
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* - startAddress: address of the first register in the supplied array
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* - size: input array size in the requested format (16bit-registers)
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*
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*/
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extern uint8_t modbusExchangeRegisters(volatile uint16_t *ptrToInArray, uint16_t startAddress, uint16_t size);
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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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extern uint8_t modbusIsInRange(uint16_t adr);
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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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extern uint8_t modbusIsRangeInRange(uint16_t startAdr, uint16_t lastAdr);
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extern volatile uint16_t modbusDataAmount;
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extern volatile uint16_t modbusDataLocation;
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#endif
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