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450 lines
13 KiB
C
450 lines
13 KiB
C
/*************************************************************************
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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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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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#ifndef __AVR_ATxmega32A4__
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UART_CONTROL&=~(1<<UART_UDRIE);
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#else
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USARTD0_CTRLA &= ~(USART_DREINTLVL_gm);
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#endif
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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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const uint16_t bsel = 208;
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const int8_t bscale = 0;
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void modbusInit(void)
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{
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#ifndef __AVR_ATxmega32A4__
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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
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BusState=(1<<TimerActive);
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#else
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//8bit
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USARTD0.CTRLC = USART_CHSIZE0_bm | USART_CHSIZE1_bm;
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//38400
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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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//Interrupt enable (levels)
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USARTD0.CTRLA |= USART_RXCINTLVL_HI_gc;
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USARTD0.CTRLA |= USART_TXCINTLVL_HI_gc;
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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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//TODO Physical type 485
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BusState=(1<<TimerActive);
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#endif
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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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{
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PacketTopIndex=packtop+2;
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crc16(rxbuffer,packtop);
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BusState|=(1<<TransmitRequested);
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DataPos=0;
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#if PHYSICAL_TYPE == 485
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transceiver_txen();
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#endif
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#ifndef __AVR_ATxmega32A4__
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UART_CONTROL|=(1<<UART_UDRIE);
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#else
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//TODO use define for usartd
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USARTD0_CTRLA |= USART_DREINTLVL_HI_gc;
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#endif
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BusState&=~(1<<ReceiveCompleted);
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}
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/* @brief: Sends an exception response.
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*
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* Arguments: - exceptionCode
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*
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*/
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void modbusSendException(unsigned char exceptionCode)
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{
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rxbuffer[1]|=(1<<7); //setting MSB of the function code (the exception flag)
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rxbuffer[2]=exceptionCode; //Exceptioncode. Also the last byte containing data
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modbusSendMessage(2);
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}
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/* @brief: Returns the amount of requested data objects (coils, discretes, registers)
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*
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*/
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uint16_t modbusRequestedAmount(void)
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{
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return (rxbuffer[5]|(rxbuffer[4]<<8));
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}
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/* @brief: Returns the address of the first requested data object (coils, discretes, registers)
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*
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*/
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uint16_t modbusRequestedAddress(void)
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{
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return (rxbuffer[3]|(rxbuffer[2]<<8));
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}
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/* @brief: copies a single or multiple bytes from one array of bytes to an array of 16-bit-words
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*
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*/
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void intToModbusRegister(volatile uint16_t *inreg, volatile uint8_t *outreg, 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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*(outreg+c*2) = (uint8_t)(*(inreg+c) >> 8);
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*(outreg+1+c*2) = (uint8_t)(*(inreg+c));
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}
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}
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/* @brief: copies a single or multiple 16-bit-words from one array of integers to an array of bytes
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*
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*/
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void modbusRegisterToInt(volatile uint8_t *inreg, volatile uint16_t *outreg, 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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*(outreg+c) = (*(inreg+c*2) << 8) + *(inreg+1+c*2);
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}
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}
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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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uint8_t modbusExchangeRegisters(volatile uint16_t *ptrToInArray, uint16_t startAddress, uint16_t size)
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{
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uint16_t requestedAmount = modbusRequestedAmount();
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uint16_t requestedAdr = modbusRequestedAddress();
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if (rxbuffer[1]==fcPresetSingleRegister) requestedAmount=1;
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if ((requestedAdr>=startAddress) && ((startAddress+size)>=(requestedAmount+requestedAdr))) {
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if ((rxbuffer[1]==fcReadHoldingRegisters) || (rxbuffer[1]==fcReadInputRegisters) )
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{
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if ((requestedAmount*2)<=(MaxFrameIndex-4)) //message buffer big enough?
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{
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rxbuffer[2]=(unsigned char)(requestedAmount*2);
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intToModbusRegister(ptrToInArray+(requestedAdr-startAddress),rxbuffer+3,requestedAmount);
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modbusSendMessage(2+rxbuffer[2]);
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return 1;
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} else modbusSendException(ecIllegalDataValue);
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}
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else if (rxbuffer[1]==fcPresetMultipleRegisters)
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{
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if (((rxbuffer[6])>=requestedAmount*2) && ((DataPos-9)>=rxbuffer[6])) //enough data received?
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{
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modbusRegisterToInt(rxbuffer+7,ptrToInArray+(requestedAdr-startAddress),(unsigned char)(requestedAmount));
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modbusSendMessage(5);
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return 1;
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} else modbusSendException(ecIllegalDataValue);//too few data bytes received
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}
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else if (rxbuffer[1]==fcPresetSingleRegister)
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{
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modbusRegisterToInt(rxbuffer+4,ptrToInArray+(requestedAdr-startAddress),1);
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modbusSendMessage(5);
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return 1;
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}
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//modbusSendException(ecSlaveDeviceFailure); //inapropriate call of modbusExchangeRegisters
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return 0;
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} else {
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modbusSendException(ecIllegalDataValue);
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return 0;
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}
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}
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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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uint8_t modbusExchangeBits(volatile uint8_t *ptrToInArray, uint16_t startAddress, uint16_t size)
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{
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uint16_t requestedAmount = modbusRequestedAmount();
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uint16_t requestedAdr = modbusRequestedAddress();
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if (rxbuffer[1]==fcForceSingleCoil) requestedAmount=1;
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if ((requestedAdr>=startAddress) && ((startAddress+size)>=(requestedAmount+requestedAdr)))
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{
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if ((rxbuffer[1]==fcReadInputStatus) || (rxbuffer[1]==fcReadCoilStatus))
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{
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if (requestedAmount<=((MaxFrameIndex-4)*8)) //message buffer big enough?
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{
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rxbuffer[2]=(requestedAmount/8);
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if (requestedAmount%8>0)
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{
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rxbuffer[(uint8_t)(requestedAmount/8)+3]=0x00; //fill last data byte with zeros
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rxbuffer[2]++;
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}
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for (uint16_t c = 0; c<requestedAmount; c++)
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{
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listBitCopy(ptrToInArray,requestedAdr-startAddress+c,rxbuffer+3,c);
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}
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modbusSendMessage(rxbuffer[2]+2);
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return 1;
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} else modbusSendException(ecIllegalDataValue); //too many bits requested within single request
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}
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else if (rxbuffer[1]==fcForceMultipleCoils)
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{
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if (((rxbuffer[6]*8)>=requestedAmount) && ((DataPos-9)>=rxbuffer[6])) //enough data received?
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{
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for (uint16_t c = 0; c<requestedAmount; c++)
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{
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listBitCopy(rxbuffer+7,c,ptrToInArray,requestedAdr-startAddress+c);
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}
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modbusSendMessage(5);
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return 1;
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} else modbusSendException(ecIllegalDataValue);//exception too few data bytes received
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}
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else if (rxbuffer[1]==fcForceSingleCoil) {
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listBitCopy(rxbuffer+4,0,ptrToInArray,requestedAdr-startAddress);
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modbusSendMessage(5);
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return 1;
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}
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//modbusSendException(ecSlaveDeviceFailure); //inanpropriate call of modbusExchangeBits
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return 0;
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} else
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{
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modbusSendException(ecIllegalDataValue);
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return 0;
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}
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}
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