/* * SPDX-FileCopyrightText: 2016-2022 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ // mbc_serial_master.c // Serial master implementation of the Modbus controller #include // for calculation of time stamp in milliseconds #include "esp_log.h" // for log_write #include // for memcpy #include "freertos/FreeRTOS.h" // for task creation and queue access #include "freertos/task.h" // for task api access #include "freertos/event_groups.h" // for event groups #include "freertos/queue.h" // for queue api access #include "mb_m.h" // for modbus stack master types definition #include "port.h" // for port callback functions #include "mbutils.h" // for mbutils functions definition for stack callback #include "sdkconfig.h" // for KConfig values #include "esp_modbus_common.h" // for common types #include "esp_modbus_master.h" // for public master types #include "mbc_master.h" // for private master types #include "mbc_serial_master.h" // for serial master create function and types // The Modbus Transmit Poll function defined in port extern BOOL xMBMasterPortSerialTxPoll(void); /*-----------------------Master mode use these variables----------------------*/ #define MB_RESPONSE_TICS pdMS_TO_TICKS(CONFIG_FMB_MASTER_TIMEOUT_MS_RESPOND + 10) static mb_master_interface_t* mbm_interface_ptr = NULL; //&default_interface_inst; static const char *TAG = "MB_CONTROLLER_MASTER"; // Modbus event processing task static void modbus_master_task(void *pvParameters) { // The interface must be initialized before start of state machine MB_MASTER_ASSERT(mbm_interface_ptr != NULL); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; // Main Modbus stack processing cycle for (;;) { // Wait for poll events BaseType_t status = xEventGroupWaitBits(mbm_opts->mbm_event_group, (BaseType_t)(MB_EVENT_STACK_STARTED), pdFALSE, // do not clear bits pdFALSE, portMAX_DELAY); // Check if stack started then poll for data if (status & MB_EVENT_STACK_STARTED) { (void)eMBMasterPoll(); // Allow stack to process data // Send response buffer if ready to be sent BOOL xSentState = xMBMasterPortSerialTxPoll(); if (xSentState) { // Let state machine know that request frame was transmitted out (void)xMBMasterPortEventPost(EV_MASTER_FRAME_SENT); } } } } // Setup Modbus controller parameters static esp_err_t mbc_serial_master_setup(void* comm_info) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), ESP_ERR_INVALID_STATE, "Master interface uninitialized."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; const mb_master_comm_info_t* comm_info_ptr = (mb_master_comm_info_t*)comm_info; // Check communication options MB_MASTER_CHECK(((comm_info_ptr->mode == MB_MODE_RTU) || (comm_info_ptr->mode == MB_MODE_ASCII)), ESP_ERR_INVALID_ARG, "mb incorrect mode = (0x%x).", (uint32_t)comm_info_ptr->mode); MB_MASTER_CHECK((comm_info_ptr->port <= UART_NUM_MAX), ESP_ERR_INVALID_ARG, "mb wrong port to set = (0x%x).", (uint32_t)comm_info_ptr->port); MB_MASTER_CHECK((comm_info_ptr->parity <= UART_PARITY_ODD), ESP_ERR_INVALID_ARG, "mb wrong parity option = (0x%x).", (uint32_t)comm_info_ptr->parity); // Save the communication options mbm_opts->mbm_comm = *(mb_communication_info_t*)comm_info_ptr; return ESP_OK; } // Modbus controller stack start function static esp_err_t mbc_serial_master_start(void) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), ESP_ERR_INVALID_STATE, "Master interface uninitialized."); eMBErrorCode status = MB_EIO; mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; const mb_communication_info_t* comm_info = (mb_communication_info_t*)&mbm_opts->mbm_comm; // Initialize Modbus stack using mbcontroller parameters status = eMBMasterSerialInit((eMBMode)comm_info->mode, (UCHAR)comm_info->port, (ULONG)comm_info->baudrate, MB_PORT_PARITY_GET(comm_info->parity)); MB_MASTER_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack initialization failure, eMBInit() returns (0x%x).", status); status = eMBMasterEnable(); MB_MASTER_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack set slave ID failure, eMBEnable() returned (0x%x).", (uint32_t)status); // Set the mbcontroller start flag EventBits_t flag = xEventGroupSetBits(mbm_opts->mbm_event_group, (EventBits_t)MB_EVENT_STACK_STARTED); MB_MASTER_CHECK((flag & MB_EVENT_STACK_STARTED), ESP_ERR_INVALID_STATE, "mb stack start event set error."); return ESP_OK; } // Modbus controller destroy function static esp_err_t mbc_serial_master_destroy(void) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), ESP_ERR_INVALID_STATE, "Master interface uninitialized."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; eMBErrorCode mb_error = MB_ENOERR; // Stop polling by clearing correspondent bit in the event group EventBits_t flag = xEventGroupClearBits(mbm_opts->mbm_event_group, (EventBits_t)MB_EVENT_STACK_STARTED); MB_MASTER_CHECK((flag & MB_EVENT_STACK_STARTED), ESP_ERR_INVALID_STATE, "mb stack stop event failure."); // Desable and then destroy the Modbus stack mb_error = eMBMasterDisable(); MB_MASTER_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack disable failure."); (void)vTaskDelete(mbm_opts->mbm_task_handle); (void)vEventGroupDelete(mbm_opts->mbm_event_group); mb_error = eMBMasterClose(); MB_MASTER_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack close failure returned (0x%x).", (uint32_t)mb_error); free(mbm_interface_ptr); // free the memory allocated for options vMBPortSetMode((UCHAR)MB_PORT_INACTIVE); mbm_interface_ptr = NULL; return ESP_OK; } // Set Modbus parameter description table static esp_err_t mbc_serial_master_set_descriptor(const mb_parameter_descriptor_t* descriptor, const uint16_t num_elements) { MB_MASTER_CHECK((descriptor != NULL), ESP_ERR_INVALID_ARG, "mb incorrect descriptor."); MB_MASTER_CHECK((num_elements >= 1), ESP_ERR_INVALID_ARG, "mb table size is incorrect."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; const mb_parameter_descriptor_t *reg_ptr = descriptor; // Go through all items in the table to check all Modbus registers for (uint16_t counter = 0; counter < (num_elements); counter++, reg_ptr++) { // Below is the code to check consistency of the table format and required fields. MB_MASTER_CHECK((reg_ptr->cid == counter), ESP_ERR_INVALID_ARG, "mb descriptor cid field is incorrect."); MB_MASTER_CHECK((reg_ptr->param_key != NULL), ESP_ERR_INVALID_ARG, "mb descriptor param key is incorrect."); MB_MASTER_CHECK((reg_ptr->mb_size > 0), ESP_ERR_INVALID_ARG, "mb descriptor param size is incorrect."); } mbm_opts->mbm_param_descriptor_table = descriptor; mbm_opts->mbm_param_descriptor_size = num_elements; return ESP_OK; } // Send custom Modbus request defined as mb_param_request_t structure static esp_err_t mbc_serial_master_send_request(mb_param_request_t* request, void* data_ptr) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), ESP_ERR_INVALID_STATE, "Master interface uninitialized."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; MB_MASTER_CHECK((request != NULL), ESP_ERR_INVALID_ARG, "mb request structure."); MB_MASTER_CHECK((data_ptr != NULL), ESP_ERR_INVALID_ARG, "mb incorrect data pointer."); eMBMasterReqErrCode mb_error = MB_MRE_NO_REG; esp_err_t error = ESP_FAIL; uint8_t mb_slave_addr = request->slave_addr; uint8_t mb_command = request->command; uint16_t mb_offset = request->reg_start; uint16_t mb_size = request->reg_size; // Set the buffer for callback function processing of received data mbm_opts->mbm_reg_buffer_ptr = (uint8_t*)data_ptr; mbm_opts->mbm_reg_buffer_size = mb_size; // Calls appropriate request function to send request and waits response switch(mb_command) { case MB_FUNC_READ_COILS: mb_error = eMBMasterReqReadCoils((UCHAR)mb_slave_addr, (USHORT)mb_offset, (USHORT)mb_size , (LONG)MB_RESPONSE_TICS ); break; case MB_FUNC_WRITE_SINGLE_COIL: mb_error = eMBMasterReqWriteCoil((UCHAR)mb_slave_addr, (USHORT)mb_offset, *(USHORT*)data_ptr, (LONG)MB_RESPONSE_TICS ); break; case MB_FUNC_WRITE_MULTIPLE_COILS: mb_error = eMBMasterReqWriteMultipleCoils((UCHAR)mb_slave_addr, (USHORT)mb_offset, (USHORT)mb_size, (UCHAR*)data_ptr, (LONG)MB_RESPONSE_TICS); break; case MB_FUNC_READ_DISCRETE_INPUTS: mb_error = eMBMasterReqReadDiscreteInputs((UCHAR)mb_slave_addr, (USHORT)mb_offset, (USHORT)mb_size, (LONG)MB_RESPONSE_TICS ); break; case MB_FUNC_READ_HOLDING_REGISTER: mb_error = eMBMasterReqReadHoldingRegister((UCHAR)mb_slave_addr, (USHORT)mb_offset, (USHORT)mb_size, (LONG)MB_RESPONSE_TICS ); break; case MB_FUNC_WRITE_REGISTER: mb_error = eMBMasterReqWriteHoldingRegister( (UCHAR)mb_slave_addr, (USHORT)mb_offset, *(USHORT*)data_ptr, (LONG)MB_RESPONSE_TICS ); break; case MB_FUNC_WRITE_MULTIPLE_REGISTERS: mb_error = eMBMasterReqWriteMultipleHoldingRegister( (UCHAR)mb_slave_addr, (USHORT)mb_offset, (USHORT)mb_size, (USHORT*)data_ptr, (LONG)MB_RESPONSE_TICS ); break; case MB_FUNC_READWRITE_MULTIPLE_REGISTERS: mb_error = eMBMasterReqReadWriteMultipleHoldingRegister( (UCHAR)mb_slave_addr, (USHORT)mb_offset, (USHORT)mb_size, (USHORT*)data_ptr, (USHORT)mb_offset, (USHORT)mb_size, (LONG)MB_RESPONSE_TICS ); break; case MB_FUNC_READ_INPUT_REGISTER: mb_error = eMBMasterReqReadInputRegister( (UCHAR)mb_slave_addr, (USHORT)mb_offset, (USHORT)mb_size, (LONG) MB_RESPONSE_TICS ); break; default: ESP_LOGE(TAG, "%s: Incorrect function in request (%u) ", __FUNCTION__, mb_command); mb_error = MB_MRE_NO_REG; break; } // Propagate the Modbus errors to higher level switch(mb_error) { case MB_MRE_NO_ERR: error = ESP_OK; break; case MB_MRE_NO_REG: error = ESP_ERR_NOT_SUPPORTED; // Invalid register request break; case MB_MRE_TIMEDOUT: error = ESP_ERR_TIMEOUT; // Slave did not send response break; case MB_MRE_EXE_FUN: case MB_MRE_REV_DATA: error = ESP_ERR_INVALID_RESPONSE; // Invalid response from slave break; case MB_MRE_MASTER_BUSY: error = ESP_ERR_INVALID_STATE; // Master is busy (previous request is pending) break; default: ESP_LOGE(TAG, "%s: Incorrect return code (%x) ", __FUNCTION__, mb_error); error = ESP_FAIL; break; } return error; } static esp_err_t mbc_serial_master_get_cid_info(uint16_t cid, const mb_parameter_descriptor_t** param_buffer) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), ESP_ERR_INVALID_STATE, "Master interface uninitialized."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; MB_MASTER_CHECK((param_buffer != NULL), ESP_ERR_INVALID_ARG, "mb incorrect data buffer pointer."); MB_MASTER_CHECK((mbm_opts->mbm_param_descriptor_table != NULL), ESP_ERR_INVALID_ARG, "mb incorrect descriptor table or not set."); MB_MASTER_CHECK((cid < mbm_opts->mbm_param_descriptor_size), ESP_ERR_NOT_FOUND, "mb incorrect cid of characteristic."); // It is assumed that characteristics cid increased in the table const mb_parameter_descriptor_t* reg_info = &mbm_opts->mbm_param_descriptor_table[cid]; MB_MASTER_CHECK((reg_info->param_key != NULL), ESP_ERR_INVALID_ARG, "mb incorrect characteristic key."); *param_buffer = reg_info; return ESP_OK; } // Helper function to get modbus command for each type of Modbus register area static uint8_t mbc_serial_master_get_command(mb_param_type_t param_type, mb_param_mode_t mode) { uint8_t command = 0; switch(param_type) { // case MB_PARAM_HOLDING: command = (mode == MB_PARAM_WRITE) ? MB_FUNC_WRITE_MULTIPLE_REGISTERS : MB_FUNC_READ_HOLDING_REGISTER; break; case MB_PARAM_INPUT: command = MB_FUNC_READ_INPUT_REGISTER; break; case MB_PARAM_COIL: command = (mode == MB_PARAM_WRITE) ? MB_FUNC_WRITE_MULTIPLE_COILS : MB_FUNC_READ_COILS; break; case MB_PARAM_DISCRETE: if (mode != MB_PARAM_WRITE) { command = MB_FUNC_READ_DISCRETE_INPUTS; } else { ESP_LOGE(TAG, "%s: Incorrect mode (%u)", __FUNCTION__, (uint8_t)mode); } break; default: ESP_LOGE(TAG, "%s: Incorrect param type (%u)", __FUNCTION__, param_type); break; } return command; } // Helper to search parameter by name in the parameter description table // and fills Modbus request fields accordingly static esp_err_t mbc_serial_master_set_request(char* name, mb_param_mode_t mode, mb_param_request_t* request, mb_parameter_descriptor_t* reg_data) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), ESP_ERR_INVALID_STATE, "Master interface uninitialized."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; esp_err_t error = ESP_ERR_NOT_FOUND; MB_MASTER_CHECK((name != NULL), ESP_ERR_INVALID_ARG, "mb incorrect parameter name."); MB_MASTER_CHECK((request != NULL), ESP_ERR_INVALID_ARG, "mb incorrect request parameter."); MB_MASTER_CHECK((mode <= MB_PARAM_WRITE), ESP_ERR_INVALID_ARG, "mb incorrect mode."); MB_MASTER_ASSERT(mbm_opts->mbm_param_descriptor_table != NULL); const mb_parameter_descriptor_t* reg_ptr = mbm_opts->mbm_param_descriptor_table; for (uint16_t counter = 0; counter < (mbm_opts->mbm_param_descriptor_size); counter++, reg_ptr++) { // Check the cid of the parameter is equal to record number in the table // Check the length of name and parameter key strings from table size_t param_key_len = strlen((const char*)reg_ptr->param_key); if (param_key_len != strlen((const char*)name)) { continue; // The length of strings is different then check next record in the table } // Compare the name of parameter with parameter key from table int comp_result = memcmp((const void*)name, (const void*)reg_ptr->param_key, (size_t)param_key_len); if (comp_result == 0) { // The correct line is found in the table and reg_ptr points to the found parameter description request->slave_addr = reg_ptr->mb_slave_addr; request->reg_start = reg_ptr->mb_reg_start; request->reg_size = reg_ptr->mb_size; request->command = mbc_serial_master_get_command(reg_ptr->mb_param_type, mode); MB_MASTER_CHECK((request->command > 0), ESP_ERR_INVALID_ARG, "mb incorrect command or parameter type."); if (reg_data != NULL) { *reg_data = *reg_ptr; // Set the cid registered parameter data } error = ESP_OK; break; } } return error; } // Get parameter data for corresponding characteristic static esp_err_t mbc_serial_master_get_parameter(uint16_t cid, char* name, uint8_t* value_ptr, uint8_t *type) { MB_MASTER_CHECK((name != NULL), ESP_ERR_INVALID_ARG, "mb incorrect descriptor."); MB_MASTER_CHECK((type != NULL), ESP_ERR_INVALID_ARG, "type pointer is incorrect."); esp_err_t error = ESP_ERR_INVALID_RESPONSE; mb_param_request_t request ; mb_parameter_descriptor_t reg_info = { 0 }; error = mbc_serial_master_set_request(name, MB_PARAM_READ, &request, ®_info); if ((error == ESP_OK) && (cid == reg_info.cid)) { // Send request to read characteristic data error = mbc_serial_master_send_request(&request, value_ptr); if (error == ESP_OK) { ESP_LOGD(TAG, "%s: Good response for get cid(%u) = %s", __FUNCTION__, (int)reg_info.cid, (char*)esp_err_to_name(error)); } else { ESP_LOGD(TAG, "%s: Bad response to get cid(%u) = %s", __FUNCTION__, reg_info.cid, (char*)esp_err_to_name(error)); } // Set the type of parameter found in the table *type = reg_info.param_type; } else { ESP_LOGE(TAG, "%s: The cid(%u) not found in the data dictionary.", __FUNCTION__, reg_info.cid); error = ESP_ERR_INVALID_ARG; } return error; } // Set parameter value for characteristic selected by name and cid static esp_err_t mbc_serial_master_set_parameter(uint16_t cid, char* name, uint8_t* value_ptr, uint8_t *type) { MB_MASTER_CHECK((name != NULL), ESP_ERR_INVALID_ARG, "mb incorrect descriptor."); MB_MASTER_CHECK((value_ptr != NULL), ESP_ERR_INVALID_ARG, "value pointer is incorrect."); MB_MASTER_CHECK((type != NULL), ESP_ERR_INVALID_ARG, "type pointer is incorrect."); esp_err_t error = ESP_ERR_INVALID_RESPONSE; mb_param_request_t request ; mb_parameter_descriptor_t reg_info = { 0 }; error = mbc_serial_master_set_request(name, MB_PARAM_WRITE, &request, ®_info); if ((error == ESP_OK) && (cid == reg_info.cid)) { // Send request to write characteristic data error = mbc_serial_master_send_request(&request, value_ptr); if (error == ESP_OK) { ESP_LOGD(TAG, "%s: Good response for set cid(%u) = %s", __FUNCTION__, (int)reg_info.cid, (char*)esp_err_to_name(error)); } else { ESP_LOGD(TAG, "%s: Bad response to set cid(%u) = %s", __FUNCTION__, reg_info.cid, (char*)esp_err_to_name(error)); } // Set the type of parameter found in the table *type = reg_info.param_type; } else { ESP_LOGE(TAG, "%s: The requested cid(%u) not found in the data dictionary.", __FUNCTION__, reg_info.cid); error = ESP_ERR_INVALID_ARG; } return error; } /* ----------------------- Callback functions for Modbus stack ---------------------------------*/ // These are executed by modbus stack to read appropriate type of registers. /** * Modbus master input register callback function. * * @param pucRegBuffer input register buffer * @param usAddress input register address * @param usNRegs input register number * * @return result */ // Callback function for reading of MB Input Registers eMBErrorCode eMBRegInputCBSerialMaster(UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), MB_EILLSTATE, "Master interface uninitialized."); MB_MASTER_CHECK((pucRegBuffer != NULL), MB_EINVAL, "Master stack processing error."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; // Number of input registers to be transferred USHORT usRegInputNregs = (USHORT)mbm_opts->mbm_reg_buffer_size; UCHAR* pucInputBuffer = (UCHAR*)mbm_opts->mbm_reg_buffer_ptr; // Get instance address USHORT usRegs = usNRegs; eMBErrorCode eStatus = MB_ENOERR; // If input or configuration parameters are incorrect then return an error to stack layer if ((pucInputBuffer != NULL) && (usNRegs >= 1) && (usRegInputNregs == usRegs)) { while (usRegs > 0) { _XFER_2_RD(pucInputBuffer, pucRegBuffer); usRegs -= 1; } } else { eStatus = MB_ENOREG; } return eStatus; } /** * Modbus master holding register callback function. * * @param pucRegBuffer holding register buffer * @param usAddress holding register address * @param usNRegs holding register number * @param eMode read or write * * @return result */ // Callback function for reading of MB Holding Registers // Executed by stack when request to read/write holding registers is received eMBErrorCode eMBRegHoldingCBSerialMaster(UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), MB_EILLSTATE, "Master interface uninitialized."); MB_MASTER_CHECK((pucRegBuffer != NULL), MB_EINVAL, "Master stack processing error."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; USHORT usRegHoldingNregs = (USHORT)mbm_opts->mbm_reg_buffer_size; UCHAR* pucHoldingBuffer = (UCHAR*)mbm_opts->mbm_reg_buffer_ptr; eMBErrorCode eStatus = MB_ENOERR; USHORT usRegs = usNRegs; // Check input and configuration parameters for correctness if ((pucHoldingBuffer != NULL) && (usRegHoldingNregs == usNRegs) && (usNRegs >= 1)) { switch (eMode) { case MB_REG_WRITE: while (usRegs > 0) { _XFER_2_RD(pucRegBuffer, pucHoldingBuffer); usRegs -= 1; }; break; case MB_REG_READ: while (usRegs > 0) { _XFER_2_WR(pucHoldingBuffer, pucRegBuffer); pucHoldingBuffer += 2; usRegs -= 1; }; break; } } else { eStatus = MB_ENOREG; } return eStatus; } /** * Modbus master coils callback function. * * @param pucRegBuffer coils buffer * @param usAddress coils address * @param usNCoils coils number * @param eMode read or write * * @return result */ // Callback function for reading of MB Coils Registers eMBErrorCode eMBRegCoilsCBSerialMaster(UCHAR* pucRegBuffer, USHORT usAddress, USHORT usNCoils, eMBRegisterMode eMode) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), MB_EILLSTATE, "Master interface uninitialized."); MB_MASTER_CHECK((pucRegBuffer != NULL), MB_EINVAL, "Master stack processing error."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; USHORT usRegCoilNregs = (USHORT)mbm_opts->mbm_reg_buffer_size; UCHAR* pucRegCoilsBuf = (UCHAR*)mbm_opts->mbm_reg_buffer_ptr; eMBErrorCode eStatus = MB_ENOERR; USHORT iRegIndex; USHORT usCoils = usNCoils; usAddress--; // The address is already + 1 if ((usRegCoilNregs >= 1) && (pucRegCoilsBuf != NULL) && (usNCoils == usRegCoilNregs)) { iRegIndex = (usAddress % 8); switch (eMode) { case MB_REG_WRITE: while (usCoils > 0) { UCHAR ucResult = xMBUtilGetBits((UCHAR*)pucRegCoilsBuf, iRegIndex, 1); xMBUtilSetBits(pucRegBuffer, iRegIndex - (usAddress % 8) , 1, ucResult); iRegIndex++; usCoils--; } break; case MB_REG_READ: while (usCoils > 0) { UCHAR ucResult = xMBUtilGetBits(pucRegBuffer, iRegIndex - (usAddress % 8), 1); xMBUtilSetBits((uint8_t*)pucRegCoilsBuf, iRegIndex, 1, ucResult); iRegIndex++; usCoils--; } break; } // switch ( eMode ) } else { // If the configuration or input parameters are incorrect then return error to stack eStatus = MB_ENOREG; } return eStatus; } /** * Modbus master discrete callback function. * * @param pucRegBuffer discrete buffer * @param usAddress discrete address * @param usNDiscrete discrete number * * @return result */ // Callback function for reading of MB Discrete Input Registers eMBErrorCode eMBRegDiscreteCBSerialMaster(UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNDiscrete) { MB_MASTER_CHECK((mbm_interface_ptr != NULL), MB_EILLSTATE, "Master interface uninitialized."); MB_MASTER_CHECK((pucRegBuffer != NULL), MB_EINVAL, "Master stack processing error."); mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; USHORT usRegDiscreteNregs = (USHORT)mbm_opts->mbm_reg_buffer_size; UCHAR* pucRegDiscreteBuf = (UCHAR*)mbm_opts->mbm_reg_buffer_ptr; eMBErrorCode eStatus = MB_ENOERR; USHORT iRegBitIndex, iNReg; UCHAR* pucDiscreteInputBuf; iNReg = usNDiscrete / 8 + 1; pucDiscreteInputBuf = (UCHAR*) pucRegDiscreteBuf; // It is already plus one in Modbus function method. usAddress--; if ((usRegDiscreteNregs >= 1) && (pucRegDiscreteBuf != NULL) && (usNDiscrete >= 1)) { iRegBitIndex = (USHORT)(usAddress) % 8; // Get bit index while (iNReg > 1) { xMBUtilSetBits(pucDiscreteInputBuf++, iRegBitIndex, 8, *pucRegBuffer++); iNReg--; } // last discrete usNDiscrete = usNDiscrete % 8; // xMBUtilSetBits has bug when ucNBits is zero if (usNDiscrete != 0) { xMBUtilSetBits(pucDiscreteInputBuf, iRegBitIndex, usNDiscrete, *pucRegBuffer++); } } else { eStatus = MB_ENOREG; } return eStatus; } // Initialization of resources for Modbus serial master controller esp_err_t mbc_serial_master_create(void** handler) { // Allocate space for master interface structure if (mbm_interface_ptr == NULL) { mbm_interface_ptr = malloc(sizeof(mb_master_interface_t)); } MB_MASTER_ASSERT(mbm_interface_ptr != NULL); // Initialize interface properties mb_master_options_t* mbm_opts = &mbm_interface_ptr->opts; mbm_opts->port_type = MB_PORT_SERIAL_MASTER; vMBPortSetMode((UCHAR)MB_PORT_SERIAL_MASTER); mbm_opts->mbm_comm.mode = MB_MODE_RTU; mbm_opts->mbm_comm.port = MB_UART_PORT; mbm_opts->mbm_comm.baudrate = MB_DEVICE_SPEED; mbm_opts->mbm_comm.parity = MB_PARITY_NONE; // Initialization of active context of the modbus controller BaseType_t status = 0; // Parameter change notification queue mbm_opts->mbm_event_group = xEventGroupCreate(); MB_MASTER_CHECK((mbm_opts->mbm_event_group != NULL), ESP_ERR_NO_MEM, "mb event group error."); // Create modbus controller task status = xTaskCreatePinnedToCore((void*)&modbus_master_task, "modbus_matask", MB_CONTROLLER_STACK_SIZE, NULL, // No parameters MB_CONTROLLER_PRIORITY, &mbm_opts->mbm_task_handle, MB_PORT_TASK_AFFINITY); if (status != pdPASS) { vTaskDelete(mbm_opts->mbm_task_handle); MB_MASTER_CHECK((status == pdPASS), ESP_ERR_NO_MEM, "mb controller task creation error, xTaskCreate() returns (0x%x).", (uint32_t)status); } MB_MASTER_ASSERT(mbm_opts->mbm_task_handle != NULL); // The task is created but handle is incorrect // Initialize public interface methods of the interface mbm_interface_ptr->init = mbc_serial_master_create; mbm_interface_ptr->destroy = mbc_serial_master_destroy; mbm_interface_ptr->setup = mbc_serial_master_setup; mbm_interface_ptr->start = mbc_serial_master_start; mbm_interface_ptr->get_cid_info = mbc_serial_master_get_cid_info; mbm_interface_ptr->get_parameter = mbc_serial_master_get_parameter; mbm_interface_ptr->send_request = mbc_serial_master_send_request; mbm_interface_ptr->set_descriptor = mbc_serial_master_set_descriptor; mbm_interface_ptr->set_parameter = mbc_serial_master_set_parameter; mbm_interface_ptr->master_reg_cb_discrete = eMBRegDiscreteCBSerialMaster; mbm_interface_ptr->master_reg_cb_input = eMBRegInputCBSerialMaster; mbm_interface_ptr->master_reg_cb_holding = eMBRegHoldingCBSerialMaster; mbm_interface_ptr->master_reg_cb_coils = eMBRegCoilsCBSerialMaster; *handler = mbm_interface_ptr; return ESP_OK; }