esp-idf/components/freemodbus/serial_slave/modbus_controller/mbc_serial_slave.c

249 lines
11 KiB
C

/* Copyright 2018 Espressif Systems (Shanghai) PTE LTD
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
// mbc_serial_slave.c
// Implementation of the Modbus controller serial slave
#include <sys/time.h> // for calculation of time stamp in milliseconds
#include "esp_log.h" // for log_write
#include "mb.h" // for mb types definition
#include "mbutils.h" // for mbutils functions definition for stack callback
#include "sdkconfig.h" // for KConfig values
#include "esp_modbus_common.h" // for common defines
#include "esp_modbus_slave.h" // for public slave interface types
#include "mbc_slave.h" // for private slave interface types
#include "mbc_serial_slave.h" // for serial slave implementation definitions
#include "port_serial_slave.h"
// Shared pointer to interface structure
static mb_slave_interface_t* mbs_interface_ptr = NULL;
// Modbus task function
static void modbus_slave_task(void *pvParameters)
{
// Modbus interface must be initialized before start
MB_SLAVE_ASSERT(mbs_interface_ptr != NULL);
mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
MB_SLAVE_ASSERT(mbs_opts != NULL);
// Main Modbus stack processing cycle
for (;;) {
BaseType_t status = xEventGroupWaitBits(mbs_opts->mbs_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)eMBPoll(); // allow stack to process data
// Send response buffer
BOOL xSentState = xMBPortSerialTxPoll();
if (xSentState) {
(void)xMBPortEventPost( EV_FRAME_SENT );
}
}
}
}
// Setup Modbus controller parameters
static esp_err_t mbc_serial_slave_setup(void* comm_info)
{
MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
ESP_ERR_INVALID_STATE,
"Slave interface is not correctly initialized.");
MB_SLAVE_CHECK((comm_info != NULL), ESP_ERR_INVALID_ARG,
"mb wrong communication settings.");
mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
mb_slave_comm_info_t* comm_settings = (mb_slave_comm_info_t*)comm_info;
MB_SLAVE_CHECK(((comm_settings->mode == MB_MODE_RTU) || (comm_settings->mode == MB_MODE_ASCII)),
ESP_ERR_INVALID_ARG, "mb incorrect mode = (0x%x).",
(uint32_t)comm_settings->mode);
MB_SLAVE_CHECK((comm_settings->slave_addr <= MB_ADDRESS_MAX),
ESP_ERR_INVALID_ARG, "mb wrong slave address = (0x%x).",
(uint32_t)comm_settings->slave_addr);
MB_SLAVE_CHECK((comm_settings->port < UART_NUM_MAX), ESP_ERR_INVALID_ARG,
"mb wrong port to set = (0x%x).", (uint32_t)comm_settings->port);
MB_SLAVE_CHECK((comm_settings->parity <= UART_PARITY_ODD), ESP_ERR_INVALID_ARG,
"mb wrong parity option = (0x%x).", (uint32_t)comm_settings->parity);
// Set communication options of the controller
mbs_opts->mbs_comm = *(mb_communication_info_t*)comm_settings;
return ESP_OK;
}
// Start Modbus controller start function
static esp_err_t mbc_serial_slave_start(void)
{
MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
ESP_ERR_INVALID_STATE,
"Slave interface is not correctly initialized.");
mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
eMBErrorCode status = MB_EIO;
const mb_communication_info_t* comm_info = (mb_communication_info_t*)&mbs_opts->mbs_comm;
// Initialize Modbus stack using mbcontroller parameters
status = eMBInit((eMBMode)comm_info->mode,
(UCHAR)comm_info->slave_addr,
(UCHAR)comm_info->port,
(ULONG)comm_info->baudrate,
MB_PORT_PARITY_GET(comm_info->parity));
MB_SLAVE_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE,
"mb stack initialization failure, eMBInit() returns (0x%x).", status);
status = eMBEnable();
MB_SLAVE_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(mbs_opts->mbs_event_group,
(EventBits_t)MB_EVENT_STACK_STARTED);
MB_SLAVE_CHECK((flag & MB_EVENT_STACK_STARTED),
ESP_ERR_INVALID_STATE, "mb stack start event set error.");
return ESP_OK;
}
// Blocking function to get event on parameter group change for application task
static mb_event_group_t mbc_serial_slave_check_event(mb_event_group_t group)
{
MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
ESP_ERR_INVALID_STATE,
"Slave interface is not correctly initialized.");
mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
MB_SLAVE_ASSERT(mbs_opts->mbs_event_group != NULL);
BaseType_t status = xEventGroupWaitBits(mbs_opts->mbs_event_group, (BaseType_t)group,
pdTRUE , pdFALSE, portMAX_DELAY);
return (mb_event_group_t)status;
}
// Function to get notification about parameter change from application task
static esp_err_t mbc_serial_slave_get_param_info(mb_param_info_t* reg_info, uint32_t timeout)
{
MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
ESP_ERR_INVALID_STATE,
"Slave interface is not correctly initialized.");
mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
esp_err_t err = ESP_ERR_TIMEOUT;
MB_SLAVE_CHECK((mbs_opts->mbs_notification_queue_handle != NULL),
ESP_ERR_INVALID_ARG, "mb queue handle is invalid.");
MB_SLAVE_CHECK((reg_info != NULL), ESP_ERR_INVALID_ARG, "mb register information is invalid.");
BaseType_t status = xQueueReceive(mbs_opts->mbs_notification_queue_handle,
reg_info, pdMS_TO_TICKS(timeout));
if (status == pdTRUE) {
err = ESP_OK;
}
return err;
}
/* ----------------------- Callback functions for Modbus stack ---------------------------------*/
// These are executed by modbus stack to read appropriate type of registers.
// This is required to suppress warning when register start address is zero
#pragma GCC diagnostic ignored "-Wtype-limits"
// Modbus controller destroy function
static esp_err_t mbc_serial_slave_destroy(void)
{
MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
ESP_ERR_INVALID_STATE,
"Slave interface is not correctly initialized.");
mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
eMBErrorCode mb_error = MB_ENOERR;
// Stop polling by clearing correspondent bit in the event group
EventBits_t flag = xEventGroupClearBits(mbs_opts->mbs_event_group,
(EventBits_t)MB_EVENT_STACK_STARTED);
MB_SLAVE_CHECK((flag & MB_EVENT_STACK_STARTED),
ESP_ERR_INVALID_STATE, "mb stack stop event failure.");
// Disable and then destroy the Modbus stack
mb_error = eMBDisable();
MB_SLAVE_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack disable failure.");
(void)vTaskDelete(mbs_opts->mbs_task_handle);
(void)vQueueDelete(mbs_opts->mbs_notification_queue_handle);
(void)vEventGroupDelete(mbs_opts->mbs_event_group);
mb_error = eMBClose();
MB_SLAVE_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE,
"mb stack close failure returned (0x%x).", (uint32_t)mb_error);
mbs_interface_ptr = NULL;
vMBPortSetMode((UCHAR)MB_PORT_INACTIVE);
return ESP_OK;
}
// Initialization of Modbus controller
esp_err_t mbc_serial_slave_create(void** handler)
{
// Allocate space for options
if (mbs_interface_ptr == NULL) {
mbs_interface_ptr = malloc(sizeof(mb_slave_interface_t));
}
MB_SLAVE_ASSERT(mbs_interface_ptr != NULL);
vMBPortSetMode((UCHAR)MB_PORT_SERIAL_SLAVE);
mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
mbs_opts->port_type = MB_PORT_SERIAL_SLAVE; // set interface port type
// Set default values of communication options
mbs_opts->mbs_comm.mode = MB_MODE_RTU;
mbs_opts->mbs_comm.slave_addr = MB_DEVICE_ADDRESS;
mbs_opts->mbs_comm.port = MB_UART_PORT;
mbs_opts->mbs_comm.baudrate = MB_DEVICE_SPEED;
mbs_opts->mbs_comm.parity = MB_PARITY_NONE;
// Initialization of active context of the Modbus controller
BaseType_t status = 0;
// Parameter change notification queue
mbs_opts->mbs_event_group = xEventGroupCreate();
MB_SLAVE_CHECK((mbs_opts->mbs_event_group != NULL),
ESP_ERR_NO_MEM, "mb event group error.");
// Parameter change notification queue
mbs_opts->mbs_notification_queue_handle = xQueueCreate(
MB_CONTROLLER_NOTIFY_QUEUE_SIZE,
sizeof(mb_param_info_t));
MB_SLAVE_CHECK((mbs_opts->mbs_notification_queue_handle != NULL),
ESP_ERR_NO_MEM, "mb notify queue creation error.");
// Create Modbus controller task
status = xTaskCreatePinnedToCore((void*)&modbus_slave_task,
"modbus_slave_task",
MB_CONTROLLER_STACK_SIZE,
NULL,
MB_CONTROLLER_PRIORITY,
&mbs_opts->mbs_task_handle,
MB_PORT_TASK_AFFINITY);
if (status != pdPASS) {
vTaskDelete(mbs_opts->mbs_task_handle);
MB_SLAVE_CHECK((status == pdPASS), ESP_ERR_NO_MEM,
"mb controller task creation error, xTaskCreate() returns (0x%x).",
(uint32_t)status);
}
MB_SLAVE_ASSERT(mbs_opts->mbs_task_handle != NULL); // The task is created but handle is incorrect
// Initialize interface function pointers
mbs_interface_ptr->check_event = mbc_serial_slave_check_event;
mbs_interface_ptr->destroy = mbc_serial_slave_destroy;
mbs_interface_ptr->get_param_info = mbc_serial_slave_get_param_info;
mbs_interface_ptr->init = mbc_serial_slave_create;
mbs_interface_ptr->set_descriptor = NULL; // Use common set descriptor function
mbs_interface_ptr->setup = mbc_serial_slave_setup;
mbs_interface_ptr->start = mbc_serial_slave_start;
// Initialize stack callback function pointers
mbs_interface_ptr->slave_reg_cb_discrete = NULL; // implemented in common layer
mbs_interface_ptr->slave_reg_cb_input = NULL;
mbs_interface_ptr->slave_reg_cb_holding = NULL;
mbs_interface_ptr->slave_reg_cb_coils = NULL;
*handler = (void*)mbs_interface_ptr;
return ESP_OK;
}