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This example adds functionality to support basic communication in RS485 networks using Modbus protocol. This example uses FreeModbus stack and regular UART driver API to communicate in RS485 half duplex mode. Added initial support of modbus controller pure C api to access device parameters over Modbus transport. Move freemodbus stack and port files into components folder Move the modbus_controller interface into components idf folder Source files updated after review. Add modbus interface documentation docs/en/api-reference/protocols/modbus.rst porttimer.c: fix bug with timer1 selected in the Kconfig Add support of cmake system (added cmake files) Closes https://github.com/espressif/esp-idf/issues/858
295 lines
11 KiB
C
295 lines
11 KiB
C
/*
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* FreeModbus Libary: ESP32 Port Demo Application
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* Copyright (C) 2010 Christian Walter <cwalter@embedded-solutions.at>
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*
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*
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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
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. The name of the author may not be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* IF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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* IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* File: $Id: portother.c,v 1.1 2010/06/06 13:07:20 wolti Exp $
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*/
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#include "port.h"
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#include "driver/uart.h"
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#include "freertos/queue.h" // for queue support
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#include "soc/uart_reg.h"
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#include "driver/gpio.h"
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#include "esp_log.h" // for esp_log
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#include "esp_err.h" // for ESP_ERROR_CHECK macro
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/* ----------------------- Modbus includes ----------------------------------*/
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#include "mb.h"
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#include "mbport.h"
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#include "sdkconfig.h" // for KConfig options
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// Definitions of UART default pin numbers
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#define MB_UART_RXD (CONFIG_MB_UART_RXD)
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#define MB_UART_TXD (CONFIG_MB_UART_TXD)
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#define MB_UART_RTS (CONFIG_MB_UART_RTS)
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#define MB_BAUD_RATE_DEFAULT (115200)
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#define MB_QUEUE_LENGTH (CONFIG_MB_QUEUE_LENGTH)
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#define MB_SERIAL_TASK_PRIO (CONFIG_MB_SERIAL_TASK_PRIO)
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#define MB_SERIAL_TASK_STACK_SIZE (CONFIG_MB_SERIAL_TASK_STACK_SIZE)
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#define MB_SERIAL_TOUT (3) // 3.5*8 = 28 ticks, TOUT=3 -> ~24..33 ticks
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// Set buffer size for transmission
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#define MB_SERIAL_BUF_SIZE (CONFIG_MB_SERIAL_BUF_SIZE)
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// Note: This code uses mixed coding standard from legacy IDF code and used freemodbus stack
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// A queue to handle UART event.
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static QueueHandle_t xMbUartQueue;
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static TaskHandle_t xMbTaskHandle;
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static const CHAR *TAG = "MB_SERIAL";
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// The UART hardware port number
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static UCHAR ucUartNumber = UART_NUM_2;
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static BOOL bRxStateEnabled = FALSE; // Receiver enabled flag
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static BOOL bTxStateEnabled = FALSE; // Transmitter enabled flag
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static UCHAR ucBuffer[MB_SERIAL_BUF_SIZE]; // Temporary buffer to transfer received data to modbus stack
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static USHORT uiRxBufferPos = 0; // position in the receiver buffer
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void vMBPortSerialEnable(BOOL bRxEnable, BOOL bTxEnable)
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{
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// This function can be called from xMBRTUTransmitFSM() of different task
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ENTER_CRITICAL_SECTION();
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if (bRxEnable) {
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//uart_enable_rx_intr(ucUartNumber);
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bRxStateEnabled = TRUE;
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vTaskResume(xMbTaskHandle); // Resume receiver task
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} else {
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vTaskSuspend(xMbTaskHandle); // Block receiver task
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bRxStateEnabled = FALSE;
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}
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if (bTxEnable) {
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bTxStateEnabled = TRUE;
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} else {
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bTxStateEnabled = FALSE;
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}
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EXIT_CRITICAL_SECTION();
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}
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static void vMBPortSerialRxPoll(size_t xEventSize)
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{
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USHORT usLength;
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if (bRxStateEnabled) {
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if (xEventSize > 0) {
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xEventSize = (xEventSize > MB_SERIAL_BUF_SIZE) ? MB_SERIAL_BUF_SIZE : xEventSize;
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uiRxBufferPos = ((uiRxBufferPos + xEventSize) >= MB_SERIAL_BUF_SIZE) ? 0 : uiRxBufferPos;
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// Get received packet into Rx buffer
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usLength = uart_read_bytes(ucUartNumber, &ucBuffer[uiRxBufferPos], xEventSize, portMAX_DELAY);
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for(USHORT usCnt = 0; usCnt < usLength; usCnt++ ) {
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// Call the Modbus stack callback function and let it fill the buffers.
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( void )pxMBFrameCBByteReceived(); // calls callback xMBRTUReceiveFSM() to execute MB state machine
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}
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// The buffer is transferred into Modbus stack and is not needed here any more
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uart_flush_input(ucUartNumber);
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// Send event EV_FRAME_RECEIVED to allow stack process packet
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#ifndef MB_TIMER_PORT_ENABLED
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// Let the stack know that T3.5 time is expired and data is received
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(void)pxMBPortCBTimerExpired(); // calls callback xMBRTUTimerT35Expired();
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#endif
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ESP_LOGD(TAG, "RX_T35_timeout: %d(bytes in buffer)\n", (uint32_t)usLength);
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}
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}
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}
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BOOL xMBPortSerialTxPoll()
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{
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BOOL bStatus = FALSE;
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USHORT usCount = 0;
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BOOL bNeedPoll = FALSE;
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if( bTxStateEnabled ) {
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// Continue while all response bytes put in buffer or out of buffer
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while((bNeedPoll == FALSE) && (usCount++ < MB_SERIAL_BUF_SIZE)) {
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// Calls the modbus stack callback function to let it fill the UART transmit buffer.
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bNeedPoll = pxMBFrameCBTransmitterEmpty( ); // calls callback xMBRTUTransmitFSM();
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}
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ESP_LOGD(TAG, "MB_TX_buffer sent: (%d) bytes\n", (uint16_t)usCount);
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bStatus = TRUE;
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}
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return bStatus;
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}
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static void vUartTask(void *pvParameters)
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{
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uart_event_t xEvent;
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for(;;) {
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if (xQueueReceive(xMbUartQueue, (void*)&xEvent, portMAX_DELAY) == pdTRUE) {
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ESP_LOGD(TAG, "MB_uart[%d] event:", ucUartNumber);
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//vMBPortTimersEnable();
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switch(xEvent.type) {
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//Event of UART receving data
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case UART_DATA:
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ESP_LOGD(TAG,"Receive data, len: %d", xEvent.size);
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// Read received data and send it to modbus stack
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vMBPortSerialRxPoll(xEvent.size);
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break;
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//Event of HW FIFO overflow detected
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case UART_FIFO_OVF:
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ESP_LOGD(TAG, "hw fifo overflow\n");
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xQueueReset(xMbUartQueue);
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break;
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//Event of UART ring buffer full
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case UART_BUFFER_FULL:
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ESP_LOGD(TAG, "ring buffer full\n");
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xQueueReset(xMbUartQueue);
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uart_flush_input(ucUartNumber);
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break;
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//Event of UART RX break detected
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case UART_BREAK:
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ESP_LOGD(TAG, "uart rx break\n");
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break;
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//Event of UART parity check error
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case UART_PARITY_ERR:
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ESP_LOGD(TAG, "uart parity error\n");
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break;
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//Event of UART frame error
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case UART_FRAME_ERR:
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ESP_LOGD(TAG, "uart frame error\n");
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break;
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default:
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ESP_LOGD(TAG, "uart event type: %d\n", xEvent.type);
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break;
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}
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}
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}
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vTaskDelete(NULL);
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}
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BOOL xMBPortSerialInit(UCHAR ucPORT, ULONG ulBaudRate,
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UCHAR ucDataBits, eMBParity eParity)
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{
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esp_err_t xErr = ESP_OK;
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MB_PORT_CHECK((eParity <= MB_PAR_EVEN), FALSE, "mb serial set parity failure.");
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// Set communication port number
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ucUartNumber = ucPORT;
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// Configure serial communication parameters
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UCHAR ucParity = UART_PARITY_DISABLE;
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UCHAR ucData = UART_DATA_8_BITS;
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switch(eParity){
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case MB_PAR_NONE:
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ucParity = UART_PARITY_DISABLE;
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break;
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case MB_PAR_ODD:
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ucParity = UART_PARITY_ODD;
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break;
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case MB_PAR_EVEN:
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ucParity = UART_PARITY_EVEN;
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break;
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}
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switch(ucDataBits){
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case 5:
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ucData = UART_DATA_5_BITS;
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break;
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case 6:
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ucData = UART_DATA_6_BITS;
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break;
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case 7:
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ucData = UART_DATA_7_BITS;
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break;
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case 8:
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ucData = UART_DATA_8_BITS;
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break;
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default:
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ucData = UART_DATA_8_BITS;
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break;
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}
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uart_config_t xUartConfig = {
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.baud_rate = ulBaudRate,
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.data_bits = ucData,
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.parity = ucParity,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.rx_flow_ctrl_thresh = 2,
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};
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// Set UART config
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xErr = uart_param_config(ucUartNumber, &xUartConfig);
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MB_PORT_CHECK((xErr == ESP_OK),
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FALSE, "mb config failure, uart_param_config() returned (0x%x).", (uint32_t)xErr);
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// Set UART pin numbers
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xErr = uart_set_pin(ucUartNumber, MB_UART_TXD, MB_UART_RXD, MB_UART_RTS, UART_PIN_NO_CHANGE);
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MB_PORT_CHECK((xErr == ESP_OK), FALSE,
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"mb set pin failure, uart_set_pin() returned (0x%x).", (uint32_t)xErr);
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// Install UART driver, and get the queue.
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xErr = uart_driver_install(ucUartNumber, MB_SERIAL_BUF_SIZE, MB_SERIAL_BUF_SIZE,
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MB_QUEUE_LENGTH, &xMbUartQueue, ESP_INTR_FLAG_LOWMED);
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MB_PORT_CHECK((xErr == ESP_OK), FALSE,
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"mb serial driver failure, uart_driver_install() returned (0x%x).", (uint32_t)xErr);
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// Set driver mode to Half Duplex
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xErr = uart_set_mode(ucUartNumber, UART_MODE_RS485_HALF_DUPLEX);
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MB_PORT_CHECK((xErr == ESP_OK), FALSE,
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"mb serial set mode failure, uart_set_mode() returned (0x%x).", (uint32_t)xErr);
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#ifndef MB_TIMER_PORT_ENABLED
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// Set timeout for TOUT interrupt (T3.5 modbus time)
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xErr = uart_set_rx_timeout(ucUartNumber, MB_SERIAL_TOUT);
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MB_PORT_CHECK((xErr == ESP_OK), FALSE,
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"mb serial set rx timeout failure, uart_set_rx_timeout() returned (0x%x).", (uint32_t)xErr);
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#endif
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// Create a task to handle UART events
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BaseType_t xStatus = xTaskCreate(vUartTask, "uart_queue_task", MB_SERIAL_TASK_STACK_SIZE,
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NULL, MB_SERIAL_TASK_PRIO, &xMbTaskHandle);
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if (xStatus != pdPASS) {
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vTaskDelete(xMbTaskHandle);
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// Force exit from function with failure
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MB_PORT_CHECK(FALSE, FALSE,
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"mb stack serial task creation error. xTaskCreate() returned (0x%x).",
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(uint32_t)xStatus);
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} else {
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vTaskSuspend(xMbTaskHandle); // Suspend serial task while stack is not started
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}
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uiRxBufferPos = 0;
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return TRUE;
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}
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void vMBPortSerialClose()
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{
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(void)vTaskSuspend(xMbTaskHandle);
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(void)vTaskDelete(xMbTaskHandle);
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ESP_ERROR_CHECK(uart_driver_delete(ucUartNumber));
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}
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BOOL xMBPortSerialPutByte(CHAR ucByte)
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{
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// Send one byte to UART transmission buffer
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// This function is called by Modbus stack
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UCHAR ucLength = uart_write_bytes(ucUartNumber, &ucByte, 1);
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return (ucLength == 1);
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}
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// Get one byte from intermediate RX buffer
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BOOL xMBPortSerialGetByte(CHAR* pucByte)
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{
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assert(pucByte != NULL);
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MB_PORT_CHECK((uiRxBufferPos < MB_SERIAL_BUF_SIZE),
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FALSE, "mb stack serial get byte failure.");
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*pucByte = ucBuffer[uiRxBufferPos];
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uiRxBufferPos++;
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return TRUE;
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}
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