newcode
parent
5e699fc082
commit
b47e101b33
@ -0,0 +1,39 @@
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#include "fifo.h"
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uint8_t fifo_push(Fifo_t * fifo, uint8_t byte)
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{
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//if (fifo.write >= FIFO_SIZE)
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// fifo.write = 0; // erhöht sicherheit
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if ( ( fifo->write + 1 == fifo->read ) ||
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( fifo->read == 0 && fifo->write + 1 == FIFO_SIZE ) )
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return FIFO_FAIL; // voll
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fifo->data[fifo->write] = byte;
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fifo->write++;
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if (fifo->write >= FIFO_SIZE)
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fifo->write = 0;
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return FIFO_SUCCESS;
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}
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uint8_t fifo_pop(Fifo_t * fifo, uint8_t *pByte)
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{
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if (fifo->read == fifo->write){
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return FIFO_FAIL;
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}
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*pByte = fifo->data[fifo->read];
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fifo->read++;
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if (fifo->read >= FIFO_SIZE)
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fifo->read = 0;
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return FIFO_SUCCESS;
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}
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uint8_t fifo_peek(Fifo_t * fifo){
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return fifo->data[fifo->read];
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}
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#ifndef _FIFO_H_
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#define _FIFO_H_
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#include <avr/io.h>
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#define FIFO_FAIL 0
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#define FIFO_SUCCESS 1
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#define FIFO_SIZE 128
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typedef struct {
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uint8_t data[FIFO_SIZE];
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uint8_t read; // zeigt auf das Feld mit dem ältesten Inhalt
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uint8_t write; // zeigt immer auf leeres Feld
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} Fifo_t;
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uint8_t fifo_push(Fifo_t * fifo, uint8_t byte);
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uint8_t fifo_pop(Fifo_t * fifo, uint8_t *pByte);
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#endif
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@ -0,0 +1,45 @@
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#include <avr/io.h>
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#include <util/delay.h>
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#include "uart.h"
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#include <avr/interrupt.h>
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void init_clk(void)
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{
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// ========= System Clock configuration =========
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// Set to external 16Mhz crystal, using the PLL at *2
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// set it to be a 12-16Mhz crystal with a slow start-up time.
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OSC.XOSCCTRL = OSC_FRQRANGE_2TO9_gc | OSC_XOSCSEL_XTAL_16KCLK_gc ;
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OSC.CTRL |= OSC_XOSCEN_bm ; // enable it
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while( (OSC.STATUS & OSC_XOSCRDY_bm) == 0 ){} // wait until it's stable
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// The external crystal is now running and stable.
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// (Note that it's not yet selected as the clock source)
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// Now configure the PLL to be eXternal oscillator * 2
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OSC.PLLCTRL = OSC_PLLSRC_XOSC_gc | 2;
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// now enable the PLL...
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OSC.CTRL |= OSC_PLLEN_bm ; // enable the PLL...
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while( (OSC.STATUS & OSC_PLLRDY_bm) == 0 ){} // wait until it's stable
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// And now, *finally*, we can switch from the internal 2Mhz clock to the PLL
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CCP = CCP_IOREG_gc; // protected write follows
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CLK.CTRL = CLK_SCLKSEL_PLL_gc; // The System clock is now PLL (16Mhz * 2)
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// ==============================================
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}
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int main(void){
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init_clk();
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init_uart();
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PORTD.DIRSET = 1 << 5;
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sei();
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for(;;){
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char tmp = USARTD0.DATA;
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if(!tmp)
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tmp='a';
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USARTD0.DATA = tmp;
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PORTD.OUTTGL = 1 << 5;
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_delay_ms(1000);
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}
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}
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@ -0,0 +1,40 @@
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TARGET = main.elf
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FILES = main fifo uart yaMBSiavr
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MCU = atxmega32a4
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PROGC = x32a4
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CC = avr-gcc
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TOOL = atmelice_pdi
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BUILDDIR = build
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DEFINES = -DF_CPU=32000000UL
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CFLAGS =-mmcu=$(MCU) -O2 -Wall $(DEFINES) -std=c99 -ffunction-sections -fdata-sections
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LDFLAGS =-mmcu=$(MCU) -Wl,--gc-sections
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LDFILES = $(foreach FILE,$(FILES),$(BUILDDIR)/$(FILE).o)
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all: clean $(BUILDDIR)/$(TARGET).elf
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$(BUILDDIR)/%.o: %.c
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@mkdir -p $(BUILDDIR)
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$(CC) $(CFLAGS) -c $< -o $(BUILDDIR)/$*.o
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$(BUILDDIR)/$(TARGET).elf: $(LDFILES)
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mkdir -p $(BUILDDIR)
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$(CC) $(LDFLAGS) $(LDFILES) -o $(BUILDDIR)/$(TARGET).elf
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$(BUILDDIR)/$(TARGET).hex : $(BUILDDIR)/$(TARGET).elf
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avr-objcopy -j .data -j .text -O ihex $< $@
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fuse:
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avrdude -p $(PROGC) -c $(TOOL) -U lfuse:w:0xE8:m -U hfuse:w:0xD1:m
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load: $(BUILDDIR)/$(TARGET).hex
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avrdude -p $(PROGC) -c $(TOOL) -U flash:w:$(BUILDDIR)/$(TARGET).hex -v -B 2
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size: $(BUILDDIR)/$(TARGET).elf
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avr-size -C --mcu=$(MCU) $(BUILDDIR)/$(TARGET).elf
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clean:
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rm -rf $(BUILDDIR)
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@ -0,0 +1,72 @@
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#include <avr/interrupt.h>
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#include "uart.h"
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#include "fifo.h"
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Fifo_t uart0_rx_buffer = {{}, 0, 0};
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Fifo_t uart0_tx_buffer = {{}, 0, 0};
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const uint16_t bsel = 208;
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const int8_t bscale = 0;
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//FILE uart_output = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE);
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void init_uart(void){
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USARTD0_CTRLC= USART_CHSIZE0_bm | USART_CHSIZE1_bm;
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//USARTD0_BAUDCTRLB = 0;
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//USARTD0_BAUDCTRLA = 0;
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USARTD0.BAUDCTRLA = bsel;
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USARTD0.BAUDCTRLB = 0 | (bsel >> 8) | (bscale << USART_BSCALE0_bp);
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USARTD0_CTRLB = USART_TXEN_bm | USART_RXEN_bm;
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//USARTD0_CTRLA=USART_RXCINTLVL0_bm;
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PORTD_OUTSET = PIN3_bm;
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PORTD_DIRSET = PIN3_bm;
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PORTD_OUTCLR = PIN2_bm;
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PORTD_DIRCLR = PIN2_bm;
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//stdout = &uart_output;
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}
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void uart_putchar(char c, FILE *stream)
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{
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fifo_push(&uart0_tx_buffer, c);
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USARTD0_CTRLA |= USART_DREINTLVL_LO_gc;
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}
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//void puts(char * s){
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// while (*s) {
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// putchar(*s++);
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// }
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//}
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char get_uart0_char(void)
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{
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while(1){
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char buffer;
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while( !(USARTD0_STATUS & USART_RXCIF_bm) );
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buffer=USARTD0_DATA;
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if ((USARTD0_STATUS & (USART_FERR_bm | USART_PERR_bm | USART_BUFOVF_bm))==0)
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return buffer;
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}
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}
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ISR(USARTD0_RXC_vect)
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{
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uint8_t tmp = get_uart0_char();
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putchar(tmp);
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if(( tmp == 0x0D || tmp == 0x0A))
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printf("wurst\n\r");
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else
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fifo_push(&uart0_rx_buffer, tmp);
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}
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ISR(USARTD0_DRE_vect){
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uint8_t tmp;
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if(fifo_pop(&uart0_tx_buffer, &tmp) == FIFO_SUCCESS){
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USARTD0_DATA = tmp;
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} else {
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USARTD0_CTRLA &= ~USART_DREINTLVL_LO_gc;
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}
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}
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#ifndef _UART_H_
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#define _UART_H_
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#include <stdio.h>
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#include "fifo.h"
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extern Fifo_t uart0_rx_buffer;
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extern Fifo_t uart0_tx_buffer;
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void init_uart(void);
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void uart_putchar(char c, FILE *stream);
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char get_uart0_char(void);
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#endif
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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 "yaMBSiavr.h"
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#include <avr/interrupt.h>
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#include "aBusIO.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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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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#if BOARD_TYPE == bType5chLedDim
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PORTD|=(1<<7);
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#endif
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TRANSCEIVER_ENABLE_PORT|=(1<<TRANSCEIVER_ENABLE_PIN);
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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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#if BOARD_TYPE == bType5chLedDim
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PORTD&=~(1<<7);
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#endif
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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 or multiple words from one array of bytes to another array of bytes
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* amount must not be bigger than 255...
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*
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*/
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void listRegisterCopy(volatile uint8_t *source, volatile uint8_t *target, uint8_t amount)
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{
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for (uint8_t c=0; c<amount; c++)
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{
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*(target+c)=*(source+c);
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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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BusState=(1<<ReceiveCompleted);
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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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} 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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} else modbusReset();
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#endif
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}
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} else if (modbusTimer==modbusInterFrameDelayReceiveStart) BusState|=(1<<BusTimedOut);
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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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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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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_rxen();
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#endif
|
||||
BusState=(1<<TimerActive);
|
||||
}
|
||||
|
||||
/* @brief: Sends a response.
|
||||
*
|
||||
* Arguments: - packtop: Position of the last byte containing data.
|
||||
* modbusSendException is a good usage example.
|
||||
*/
|
||||
void modbusSendMessage(unsigned char packtop)
|
||||
{
|
||||
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 (rxbuffer[5]|(rxbuffer[4]<<8));
|
||||
}
|
||||
|
||||
/* @brief: Returns the address of the first requested data object (coils, discretes, registers)
|
||||
*
|
||||
*/
|
||||
uint16_t modbusRequestedAddress(void)
|
||||
{
|
||||
return (rxbuffer[3]|(rxbuffer[2]<<8));
|
||||
}
|
||||
|
||||
/* @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)
|
||||
{
|
||||
uint16_t requestedAmount = modbusRequestedAmount();
|
||||
uint16_t requestedAdr = modbusRequestedAddress();
|
||||
if (rxbuffer[1]==fcPresetSingleRegister) requestedAmount=1;
|
||||
if ((requestedAdr>=startAddress) && ((startAddress+size)>=(requestedAmount+requestedAdr))) {
|
||||
|
||||
if ((rxbuffer[1]==fcReadHoldingRegisters) || (rxbuffer[1]==fcReadInputRegisters) )
|
||||
{
|
||||
if ((requestedAmount*2)<=(MaxFrameIndex-4)) //message buffer big enough?
|
||||
{
|
||||
rxbuffer[2]=(unsigned char)(requestedAmount*2);
|
||||
intToModbusRegister(ptrToInArray+(requestedAdr-startAddress),rxbuffer+3,requestedAmount);
|
||||
modbusSendMessage(2+rxbuffer[2]);
|
||||
return 1;
|
||||
} else modbusSendException(ecIllegalDataValue);
|
||||
}
|
||||
else if (rxbuffer[1]==fcPresetMultipleRegisters)
|
||||
{
|
||||
if (((rxbuffer[6])>=requestedAmount*2) && ((DataPos-9)>=rxbuffer[6])) //enough data received?
|
||||
{
|
||||
modbusRegisterToInt(rxbuffer+7,ptrToInArray+(requestedAdr-startAddress),(unsigned char)(requestedAmount));
|
||||
modbusSendMessage(5);
|
||||
return 1;
|
||||
} else modbusSendException(ecIllegalDataValue);//too few data bytes received
|
||||
}
|
||||
else if (rxbuffer[1]==fcPresetSingleRegister)
|
||||
{
|
||||
modbusRegisterToInt(rxbuffer+4,ptrToInArray+(requestedAdr-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)
|
||||
{
|
||||
uint16_t requestedAmount = modbusRequestedAmount();
|
||||
uint16_t requestedAdr = modbusRequestedAddress();
|
||||
if (rxbuffer[1]==fcForceSingleCoil) requestedAmount=1;
|
||||
if ((requestedAdr>=startAddress) && ((startAddress+size)>=(requestedAmount+requestedAdr)))
|
||||
{
|
||||
if ((rxbuffer[1]==fcReadInputStatus) || (rxbuffer[1]==fcReadCoilStatus))
|
||||
{
|
||||
if (requestedAmount<=((MaxFrameIndex-4)*8)) //message buffer big enough?
|
||||
{
|
||||
rxbuffer[2]=(requestedAmount/8);
|
||||
if (requestedAmount%8>0)
|
||||
{
|
||||
rxbuffer[(uint8_t)(requestedAmount/8)+3]=0x00; //fill last data byte with zeros
|
||||
rxbuffer[2]++;
|
||||
}
|
||||
for (uint16_t c = 0; c<requestedAmount; c++)
|
||||
{
|
||||
listBitCopy(ptrToInArray,requestedAdr-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)>=requestedAmount) && ((DataPos-9)>=rxbuffer[6])) //enough data received?
|
||||
{
|
||||
for (uint16_t c = 0; c<requestedAmount; c++)
|
||||
{
|
||||
listBitCopy(rxbuffer+7,c,ptrToInArray,requestedAdr-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,requestedAdr-startAddress);
|
||||
modbusSendMessage(5);
|
||||
return 1;
|
||||
}
|
||||
//modbusSendException(ecSlaveDeviceFailure); //inanpropriate call of modbusExchangeBits
|
||||
return 0;
|
||||
} else
|
||||
{
|
||||
modbusSendException(ecIllegalDataValue);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,392 @@
|
||||
#ifndef yaMBSiavr_H
|
||||
#define yaMBSiavr_H
|
||||
#endif
|
||||
/************************************************************************
|
||||
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>
|
||||
#include "aBusIO.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 */
|
||||
#define BAUD 38400L
|
||||
|
||||
/*
|
||||
* Definitions for transceiver enable pin.
|
||||
*/
|
||||
#if BOARD_TYPE == bType5chLedDim
|
||||
#define TRANSCEIVER_ENABLE_PORT PORTD
|
||||
#define TRANSCEIVER_ENABLE_PIN 5
|
||||
#define TRANSCEIVER_ENABLE_PORT_DDR DDRD
|
||||
#else
|
||||
#define TRANSCEIVER_ENABLE_PORT PORTD
|
||||
#define TRANSCEIVER_ENABLE_PIN 2
|
||||
#define TRANSCEIVER_ENABLE_PORT_DDR DDRD
|
||||
#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_ATmega88P__)|(__AVR_ATmega328P__)|(__AVR_ATmega168P__)
|
||||
#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__) && BOARD_TYPE != bType5chLedDim
|
||||
#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_ATmega328PB__) && BOARD_TYPE == bType5chLedDim
|
||||
#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
|
||||
|
||||
|
||||
/*
|
||||
* Change this value if you are using a different frequency and/or
|
||||
* different baudrate.
|
||||
*/
|
||||
#define Baud 64 //38400@20e6Hz
|
||||
|
||||
#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
|
||||
|
||||
#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
|
||||
|
||||
/*
|
||||
#define modbusBaudrate 38400
|
||||
#define modbusBlocksize 10
|
||||
#define modbusBlockTime ((float)modbusBlocksize*1000000)/((float) modbusBaudrate) //is 260 fuer 38400
|
||||
#define timerISROccurenceTime 102
|
||||
|
||||
#define TimeoutStartOfMessage (uint16_t)(modbusBlockTime*3.5/(float)timerISROccurenceTime)
|
||||
#define TimeoutEndOfMessage (uint16_t)(modbusBlockTime*4/(float)timerISROccurenceTime)
|
||||
#define ReceiveMaxGap (uint16_t)(modbusBlockTime*1.5/(float)timerISROccurenceTime)
|
||||
*/
|
||||
#define modbusInterFrameDelayReceiveStart (uint8_t)(F_CPU/1843200) //18432000Hz => 10
|
||||
#define modbusInterFrameDelayReceiveEnd (uint8_t)(F_CPU/1024000) //18432000Hz => 18
|
||||
#define modbusInterCharTimeout (uint8_t)(F_CPU/3686400) //18432000Hz => 5
|
||||
|
||||
/**
|
||||
* @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 100
|
||||
|
||||
/**
|
||||
* @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
|
||||
*/
|
||||
volatile unsigned char rxbuffer[MaxFrameIndex+1];
|
||||
|
||||
/**
|
||||
* @brief Current receive/transmit position
|
||||
*/
|
||||
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: Handles function code "report slave id".
|
||||
*
|
||||
* Arguments: - in: MUST BE NULL-TERMINATED and shorter than MaxFrameIndex-4
|
||||
* (without NULL-Byte, the NULL-Byte is not transmitted).
|
||||
* Pointer to the user's data array containing user specific
|
||||
* information, typically a string (hence the null termination).
|
||||
* The last byte should (according to spec) contain the 'run indication"
|
||||
* (running: 0xFF, not running: 0x00). This seems to be originating
|
||||
* from PLC terminology and is often omitted nowadays.
|
||||
*
|
||||
* @example: char myDeviceDescription[] = {"modbus capable device that is always running V1.0\0xFF\0x00"}
|
||||
* modbusSendSlaveID(myDeviceDescription);
|
||||
*/
|
||||
extern void modbusSendSlaveID(char *in);
|
||||
Loading…
Reference in New Issue