esp-idf/examples/protocols/modbus_master/main/sense_modbus.c

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freemodbus: Fix bug with incorrect coils read mask Contains two different component folders per each implementation (serial_master and serial_slave) with concrete ports. Added common public api for master and slave and common interface for master and slave implementation. Add support of cmake system (added cmake files). Added sdkconfig.defaults files for slave and master modbus examples. Updated make file and KConfig for freemodbus component Update according to review and fix doxygen warnings Fix Doxyfile to pass documentation build Update headers and change interface file names as per review comments Merge branch feature/freemodbus_move_rs485_mode_control Update after review: The stack modbus folder updated to support master and slave ports together and moved into freemodbus/modbus Stack and port files updated to remove duplicated simbols Make file, KConfig and CMakeLists.txt updated to compile master and slave stacks, common interface and concrete implementations of ports Stack callback functions execute callbacks using interface pointer from concrete port implementation User can instantiate any of concrete port using common API (only one concrete port at a time) and it does not require to select port by KConfig Port pins and mode configuration moved into example files from port files to allow user select pins and port mode (customer request) Changes tested using pymodbus, ModbusPoll and communication between two boards Updated DoxyFile according to public include path Fix maximum instance size for slave (merge from master of customer issue) Fix critical section issue TW#28622 (change spin lock based critical section to semaphore) Move serial port files into component port folder for master and slave accordingly Fix example issue showed in the log when IO slave is not configured correctly Fix conflicts while merging from origin/master Fix errors handling in modbus controller interface + some final corrections according to review Update maximum allowed number of slaves in the network segment Fix bug with incorrect coils read mask Closes https://github.com/espressif/esp-idf/issues/858
2018-10-19 09:51:27 -04:00
/*
* ESPRESSIF MIT License
*
* Copyright (c) 2018 <ESPRESSIF SYSTEMS (SHANGHAI) PTE LTD>
*
* Permission is hereby granted for use on all ESPRESSIF SYSTEMS products, in which case,
* it is free of charge, to any person obtaining a copy of this software and associated
* documentation files (the "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished
* to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or
* substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*/
// This module allows to hide all Modbus dependencies and work with characteristics
// instead of Modbus parameters
#include "stdlib.h"
#include "string.h" // for memset, memcpy functions
#include "esp_err.h"
#include "esp_log.h"
#include "sense_modbus.h" // for Modbus defines
// This module provide an easy way to work with characteristics instead of
// Modbus parameters
static const char* TAG = "SENSE_MB";
#define SENSE_MB_CHECK(a, ret_val, str, ...) \
if (!(a)) { \
ESP_LOGE(TAG, "%s(%u): " str, __FUNCTION__, __LINE__, ##__VA_ARGS__); \
return (ret_val); \
}
// Define port options for the master application
#define MB_BAUDRATE 115200
#define MB_PORTNUM 2
#define MB_PARITY UART_PARITY_DISABLE
// Keep the pointer to active characteristic table and its size
static characteristic_descriptor_t** active_cid_table = NULL;
static uint32_t active_cid_table_size = 0;
// The function to get pointer to parameter storage (instance) according to parameter description table
static void* sense_modbus_get_param_data(const mb_parameter_descriptor_t* param_descriptor)
{
assert(param_descriptor != NULL);
void* instance_ptr = NULL;
if (param_descriptor->param_offset != 0) {
switch(param_descriptor->mb_param_type)
{
case MB_PARAM_HOLDING:
instance_ptr = (void*)(&holding_reg_params + param_descriptor->param_offset - 1);
break;
case MB_PARAM_INPUT:
instance_ptr = (void*)(&input_reg_params + param_descriptor->param_offset - 1);
break;
case MB_PARAM_COIL:
instance_ptr = (void*)(&coil_reg_params + param_descriptor->param_offset - 1);
break;
case MB_PARAM_DISCRETE:
instance_ptr = (void*)(&discrete_reg_params + param_descriptor->param_offset - 1);
break;
default:
instance_ptr = NULL;
break;
}
} else {
instance_ptr = malloc((size_t)(param_descriptor->param_size));;
}
return instance_ptr;
}
// The helper function to get time stamp in microseconds
static uint64_t sense_modbus_get_time_stamp_us()
{
uint64_t time_stamp = esp_timer_get_time();
return time_stamp;
}
// Initialization of Modbus stack
esp_err_t sense_modbus_init()
{
mb_communication_info_t comm = {
.port = MB_PORTNUM,
.mode = MB_MODE_RTU,
.baudrate = MB_BAUDRATE,
.parity = MB_PARITY
};
void* master_handler = NULL;
esp_err_t err = mbc_master_init(MB_PORT_SERIAL_MASTER, &master_handler);
SENSE_MB_CHECK((master_handler != NULL), ESP_ERR_INVALID_STATE,
"mb controller initialization fail.");
SENSE_MB_CHECK((err == ESP_OK), ESP_ERR_INVALID_STATE,
"mb controller initialization fail, returns(0x%x).",
(uint32_t)err);
err = mbc_master_setup((void*)&comm);
SENSE_MB_CHECK((err == ESP_OK), ESP_ERR_INVALID_STATE,
"mb controller setup fail, returns(0x%x).",
(uint32_t)err);
err = mbc_master_start();
SENSE_MB_CHECK((err == ESP_OK), ESP_ERR_INVALID_STATE,
"mb controller start fail, returns(0x%x).",
(uint32_t)err);
// Set UART pin numbers
err = uart_set_pin(MB_PORTNUM, CONFIG_MB_UART_TXD, CONFIG_MB_UART_RXD,
CONFIG_MB_UART_RTS, UART_PIN_NO_CHANGE);
SENSE_MB_CHECK((err == ESP_OK), ESP_ERR_INVALID_STATE,
"mb serial set pin failure, uart_set_pin() returned (0x%x).", (uint32_t)err);
// Set driver mode to Half Duplex
err = uart_set_mode(MB_PORTNUM, UART_MODE_RS485_HALF_DUPLEX);
SENSE_MB_CHECK((err == ESP_OK), ESP_ERR_INVALID_STATE,
"mb serial set mode failure, uart_set_mode() returned (0x%x).", (uint32_t)err);
vTaskDelay(5);
err = mbc_master_set_descriptor(&device_parameters[0], num_device_parameters);
SENSE_MB_CHECK((err == ESP_OK), ESP_ERR_INVALID_STATE,
"mb controller set descriptor fail, returns(0x%x).",
(uint32_t)err);
return err;
}
// Check Modbus parameters description table and create characteristic description table according to it
esp_err_t sense_modbus_get_characteristics(characteristic_descriptor_t** cid_table, uint16_t* table_size)
{
SENSE_MB_CHECK((table_size != NULL), ESP_ERR_INVALID_ARG, "incorrect cid table size.");
SENSE_MB_CHECK((*table_size >= 1), ESP_ERR_NOT_FOUND, "incorrect cid of characteristic.");
SENSE_MB_CHECK((cid_table != NULL), ESP_ERR_INVALID_ARG, "incorrect cid table pointer.");
esp_err_t error_code = ESP_OK;
const mb_parameter_descriptor_t* param_descriptor = NULL;
characteristic_descriptor_t* cid_instance_ptr = NULL;
uint16_t cid_cnt = 0;
for (cid_cnt = 0; (error_code != ESP_ERR_NOT_FOUND) && (cid_cnt < *table_size); cid_cnt++) {
// Get data from parameters description table
// and use this information to fill the characteristics description table
// and having all required fields in just one table
error_code = mbc_master_get_cid_info(cid_cnt, &param_descriptor);
if ((error_code != ESP_ERR_NOT_FOUND) && (param_descriptor != NULL)) {
void* temp_data_ptr = sense_modbus_get_param_data(param_descriptor);
SENSE_MB_CHECK((temp_data_ptr != NULL),
ESP_ERR_INVALID_STATE, "incorrect instance pointer for cid.");
// Allocate space for characteristic description
cid_instance_ptr = (characteristic_descriptor_t*)malloc(sizeof(characteristic_descriptor_t));
// If not enough memory, try to repair from this error
SENSE_MB_CHECK((cid_instance_ptr != NULL),
ESP_ERR_NO_MEM, "incorrect memory allocation for the cid.");
cid_table[cid_cnt] = cid_instance_ptr;
// Fill the description according to parameter description table
cid_instance_ptr->instance_ptr = temp_data_ptr;
cid_instance_ptr->param_opts = param_descriptor->param_opts;
cid_instance_ptr->cid = param_descriptor->cid;
cid_instance_ptr->access = param_descriptor->access;
cid_instance_ptr->param_key = param_descriptor->param_key;
cid_instance_ptr->param_units = param_descriptor->param_units;
cid_instance_ptr->status = ESP_FAIL;
cid_instance_ptr->instance_size = (size_t)param_descriptor->param_size;
cid_instance_ptr->instance_type = param_descriptor->param_type;
cid_instance_ptr->change_flag = 0; // clear flag
cid_instance_ptr->timestamp = 0; // Keeps timestamp of updated value
assert(cid_instance_ptr->param_key != NULL);
} else {
break;
}
}
ESP_LOGI(TAG, "%s: Found (%u) characteristics in table.", __FUNCTION__, cid_cnt);
// Keep the table pointer and size of table
active_cid_table = cid_table;
active_cid_table_size = cid_cnt;
*table_size = cid_cnt;
return ESP_OK;
}
// Read characteristic value from Modbus parameter according to description table
esp_err_t sense_modbus_read_value(uint16_t cid, void *value)
{
assert(active_cid_table != NULL);
SENSE_MB_CHECK((value != NULL), ESP_ERR_INVALID_ARG, "incorrect value pointer.");
SENSE_MB_CHECK((cid < active_cid_table_size), ESP_ERR_INVALID_ARG, "incorrect cid to read.");
characteristic_descriptor_t* cid_info = active_cid_table[cid];
SENSE_MB_CHECK((cid_info->instance_ptr != NULL), ESP_ERR_INVALID_STATE, "incorrect cid table instance_pointer.");
SENSE_MB_CHECK((cid_info->param_key != NULL), ESP_ERR_INVALID_STATE, "incorrect cid table or not initialized.");
SENSE_MB_CHECK((cid_info->cid == cid), ESP_ERR_INVALID_STATE, "incorrect cid table or not initialized.");
// Set the data pointer for get request to value instance
uint8_t* value_ptr = (uint8_t*)cid_info->instance_ptr;
uint8_t type = 0;
memset((void*)value_ptr, 0, cid_info->instance_size); // Clear value instance first
// Send Modbus request to read cid correspond registers
esp_err_t error = mbc_master_get_parameter(cid, (char*)cid_info->param_key, value_ptr, &type);
SENSE_MB_CHECK((type <= PARAM_TYPE_ASCII), ESP_ERR_NOT_SUPPORTED, "returned data type is not supported (%u)", type);
cid_info->status = error; // Keep last read status of the cid in the information table
if (error == ESP_OK) {
// Copy the value to param
memcpy((void*)value, (void*)value_ptr, cid_info->instance_size);
cid_info->timestamp = sense_modbus_get_time_stamp_us(); // Set timestamp of last access to cid
}
return error;
}
// Write characteristic value into associated Modbus parameter
esp_err_t sense_modbus_send_value(uint16_t cid, void* value)
{
assert(active_cid_table != NULL);
SENSE_MB_CHECK((cid < active_cid_table_size), ESP_ERR_INVALID_ARG, "incorrect cid to set.");
characteristic_descriptor_t* cid_info = active_cid_table[cid];
SENSE_MB_CHECK((cid_info->instance_ptr != NULL), ESP_ERR_INVALID_STATE, "incorrect cid table instance_ptr.");
SENSE_MB_CHECK((cid_info->param_key != NULL), ESP_ERR_INVALID_STATE, "incorrect cid table param_key or not initialized.");
SENSE_MB_CHECK((cid_info->cid == cid), ESP_ERR_INVALID_STATE, "incorrect cid in table or not initialized.");
uint8_t* value_ptr = (uint8_t*)cid_info->instance_ptr;
// Set the instance value of the characteristic to the value
memcpy((void*)value_ptr, (void*)value, cid_info->instance_size);
uint8_t type = 0;
// Set modbus parameter according to value of characteristic
esp_err_t error = mbc_master_set_parameter(cid, (char*)cid_info->param_key, value_ptr, &type);
SENSE_MB_CHECK((cid_info->instance_type == type), ESP_ERR_NOT_FOUND, "incorrect type of parameter (%u)", type);
SENSE_MB_CHECK((type <= PARAM_TYPE_ASCII), ESP_ERR_NOT_SUPPORTED, "returned data type is not supported (%u)", type);
cid_info->change_flag = 0x55; // Set value changed flag to inform higher level
cid_info->status = error; // Keep last read/write status of cid in the information table
cid_info->timestamp = sense_modbus_get_time_stamp_us(); // Set time stamp of last access to cid
return error;
}
// Get cid data from characteristic description table
esp_err_t sense_modbus_get_cid_data(uint16_t cid, characteristic_descriptor_t* cid_data)
{
assert(active_cid_table != NULL);
SENSE_MB_CHECK((cid_data != NULL), ESP_ERR_INVALID_ARG, "incorrect data pointer.");
SENSE_MB_CHECK((cid < active_cid_table_size), ESP_ERR_INVALID_ARG, "cid is not found in the table.");
characteristic_descriptor_t* cid_info = active_cid_table[cid];
SENSE_MB_CHECK((cid_info != NULL), ESP_ERR_INVALID_STATE, "incorrect cid table or not initialized.");
SENSE_MB_CHECK((cid_info->instance_ptr != NULL), ESP_ERR_INVALID_STATE, "incorrect cid table instance_ptr.");
SENSE_MB_CHECK((cid_info->param_key != NULL), ESP_ERR_INVALID_STATE, "incorrect cid table param_key.");
SENSE_MB_CHECK((cid_info->cid == cid), ESP_ERR_INVALID_STATE, "incorrect cid in the table or not initialized.");
*cid_data = *cid_info; // Set cid data
cid_info->change_flag = 0x00; // Reset flag once we get changed value
return ESP_OK;
}
// Todo: add modbus code here