mirror of
https://github.com/espressif/esp-idf.git
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449d2a6367
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
522 lines
24 KiB
C
522 lines
24 KiB
C
/* Copyright 2018 Espressif Systems (Shanghai) PTE LTD
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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// mbc_serial_slave.c
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// Implementation of the Modbus controller serial slave
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#include <sys/time.h> // for calculation of time stamp in milliseconds
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#include "esp_log.h" // for log_write
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#include "mb.h" // for mb types definition
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#include "mbutils.h" // for mbutils functions definition for stack callback
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#include "sdkconfig.h" // for KConfig values
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#include "esp_modbus_common.h" // for common defines
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#include "esp_modbus_slave.h" // for public slave interface types
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#include "mbc_slave.h" // for private slave interface types
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#include "mbc_serial_slave.h" // for serial slave implementation definitions
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#include "port_serial_slave.h"
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// Shared pointer to interface structure
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static mb_slave_interface_t* mbs_interface_ptr = NULL; // &default_interface_inst;
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// Modbus task function
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static void modbus_slave_task(void *pvParameters)
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{
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// Modbus interface must be initialized before start
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MB_SLAVE_ASSERT(mbs_interface_ptr != NULL);
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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MB_SLAVE_ASSERT(mbs_opts != NULL);
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// Main Modbus stack processing cycle
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for (;;) {
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BaseType_t status = xEventGroupWaitBits(mbs_opts->mbs_event_group,
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(BaseType_t)(MB_EVENT_STACK_STARTED),
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pdFALSE, // do not clear bits
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pdFALSE,
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portMAX_DELAY);
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// Check if stack started then poll for data
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if (status & MB_EVENT_STACK_STARTED) {
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(void)eMBPoll(); // allow stack to process data
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(void)xMBPortSerialTxPoll(); // Send response buffer if ready
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}
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}
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}
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// Setup Modbus controller parameters
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static esp_err_t mbc_serial_slave_setup(void* comm_info)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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ESP_ERR_INVALID_STATE,
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"Slave interface is not correctly initialized.");
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MB_SLAVE_CHECK((comm_info != NULL), ESP_ERR_INVALID_ARG,
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"mb wrong communication settings.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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mb_slave_comm_info_t* comm_settings = (mb_slave_comm_info_t*)comm_info;
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MB_SLAVE_CHECK(((comm_settings->mode == MB_MODE_RTU) || (comm_settings->mode == MB_MODE_ASCII)),
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ESP_ERR_INVALID_ARG, "mb incorrect mode = (0x%x).",
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(uint32_t)comm_settings->mode);
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MB_SLAVE_CHECK((comm_settings->slave_addr <= MB_ADDRESS_MAX),
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ESP_ERR_INVALID_ARG, "mb wrong slave address = (0x%x).",
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(uint32_t)comm_settings->slave_addr);
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MB_SLAVE_CHECK((comm_settings->port <= UART_NUM_2), ESP_ERR_INVALID_ARG,
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"mb wrong port to set = (0x%x).", (uint32_t)comm_settings->port);
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MB_SLAVE_CHECK((comm_settings->parity <= UART_PARITY_EVEN), ESP_ERR_INVALID_ARG,
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"mb wrong parity option = (0x%x).", (uint32_t)comm_settings->parity);
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// Set communication options of the controller
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mbs_opts->mbs_comm = *(mb_communication_info_t*)comm_settings;
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return ESP_OK;
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}
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// Start Modbus controller start function
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static esp_err_t mbc_serial_slave_start(void)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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ESP_ERR_INVALID_STATE,
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"Slave interface is not correctly initialized.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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eMBErrorCode status = MB_EIO;
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// Initialize Modbus stack using mbcontroller parameters
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status = eMBInit((eMBMode)mbs_opts->mbs_comm.mode,
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(UCHAR)mbs_opts->mbs_comm.slave_addr,
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(UCHAR)mbs_opts->mbs_comm.port,
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(ULONG)mbs_opts->mbs_comm.baudrate,
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(eMBParity)mbs_opts->mbs_comm.parity);
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MB_SLAVE_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE,
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"mb stack initialization failure, eMBInit() returns (0x%x).", status);
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#ifdef CONFIG_MB_CONTROLLER_SLAVE_ID_SUPPORT
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status = eMBSetSlaveID(MB_SLAVE_ID_SHORT, TRUE, (UCHAR*)mb_slave_id, sizeof(mb_slave_id));
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MB_SLAVE_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack set slave ID failure.");
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#endif
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status = eMBEnable();
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MB_SLAVE_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE,
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"mb stack set slave ID failure, eMBEnable() returned (0x%x).", (uint32_t)status);
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// Set the mbcontroller start flag
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EventBits_t flag = xEventGroupSetBits(mbs_opts->mbs_event_group,
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(EventBits_t)MB_EVENT_STACK_STARTED);
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MB_SLAVE_CHECK((flag & MB_EVENT_STACK_STARTED),
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ESP_ERR_INVALID_STATE, "mb stack start event set error.");
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return ESP_OK;
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}
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// Modbus controller destroy function
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static esp_err_t mbc_serial_slave_destroy(void)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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ESP_ERR_INVALID_STATE,
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"Slave interface is not correctly initialized.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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eMBErrorCode mb_error = MB_ENOERR;
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// Stop polling by clearing correspondent bit in the event group
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EventBits_t flag = xEventGroupClearBits(mbs_opts->mbs_event_group,
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(EventBits_t)MB_EVENT_STACK_STARTED);
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MB_SLAVE_CHECK((flag & MB_EVENT_STACK_STARTED),
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ESP_ERR_INVALID_STATE, "mb stack stop event failure.");
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// Disable and then destroy the Modbus stack
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mb_error = eMBDisable();
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MB_SLAVE_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack disable failure.");
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(void)vTaskDelete(mbs_opts->mbs_task_handle);
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(void)vQueueDelete(mbs_opts->mbs_notification_queue_handle);
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(void)vEventGroupDelete(mbs_opts->mbs_event_group);
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mb_error = eMBClose();
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MB_SLAVE_CHECK((mb_error == MB_ENOERR), ESP_ERR_INVALID_STATE,
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"mb stack close failure returned (0x%x).", (uint32_t)mb_error);
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free(mbs_interface_ptr);
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return ESP_OK;
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}
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esp_err_t mbc_serial_slave_set_descriptor(const mb_register_area_descriptor_t descr_info)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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ESP_ERR_INVALID_STATE,
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"Slave interface is not correctly initialized.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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MB_SLAVE_CHECK(((descr_info.type < MB_PARAM_COUNT) && (descr_info.type >= MB_PARAM_HOLDING)),
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ESP_ERR_INVALID_ARG, "mb incorrect modbus instance type = (0x%x).",
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(uint32_t)descr_info.type);
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MB_SLAVE_CHECK((descr_info.address != NULL),
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ESP_ERR_INVALID_ARG, "mb instance pointer is NULL.");
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MB_SLAVE_CHECK((descr_info.size >= MB_INST_MIN_SIZE) && (descr_info.size < (MB_INST_MAX_SIZE)),
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ESP_ERR_INVALID_ARG, "mb instance size is incorrect = (0x%x).",
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(uint32_t)descr_info.size);
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mbs_opts->mbs_area_descriptors[descr_info.type] = descr_info;
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return ESP_OK;
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}
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// The helper function to get time stamp in microseconds
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static uint64_t get_time_stamp()
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{
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uint64_t time_stamp = esp_timer_get_time();
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return time_stamp;
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}
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// Helper function to send parameter information to application task
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static esp_err_t send_param_info(mb_event_group_t par_type, uint16_t mb_offset,
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uint8_t* par_address, uint16_t par_size)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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ESP_ERR_INVALID_STATE,
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"Slave interface is not correctly initialized.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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esp_err_t error = ESP_FAIL;
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mb_param_info_t par_info;
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// Check if queue is not full the send parameter information
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par_info.type = par_type;
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par_info.size = par_size;
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par_info.address = par_address;
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par_info.time_stamp = get_time_stamp();
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par_info.mb_offset = mb_offset;
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BaseType_t status = xQueueSend(mbs_opts->mbs_notification_queue_handle,
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&par_info, MB_PAR_INFO_TOUT);
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if (pdTRUE == status) {
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ESP_LOGD(MB_SLAVE_TAG, "Queue send parameter info (type, address, size): %d, 0x%.4x, %d",
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par_type, (uint32_t)par_address, par_size);
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error = ESP_OK;
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} else if (errQUEUE_FULL == status) {
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ESP_LOGD(MB_SLAVE_TAG, "Parameter queue is overflowed.");
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}
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return error;
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}
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// Helper function to send notification
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static esp_err_t send_param_access_notification(mb_event_group_t event)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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ESP_ERR_INVALID_STATE,
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"Slave interface is not correctly initialized.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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esp_err_t err = ESP_FAIL;
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mb_event_group_t bits = (mb_event_group_t)xEventGroupSetBits(mbs_opts->mbs_event_group,
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(EventBits_t)event);
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if (bits & event) {
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ESP_LOGD(MB_SLAVE_TAG, "The MB_REG_CHANGE_EVENT = 0x%.2x is set.", (uint8_t)event);
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err = ESP_OK;
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}
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return err;
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}
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// Blocking function to get event on parameter group change for application task
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static mb_event_group_t mbc_serial_slave_check_event(mb_event_group_t group)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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ESP_ERR_INVALID_STATE,
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"Slave interface is not correctly initialized.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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MB_SLAVE_ASSERT(mbs_opts->mbs_event_group != NULL);
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BaseType_t status = xEventGroupWaitBits(mbs_opts->mbs_event_group, (BaseType_t)group,
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pdTRUE , pdFALSE, portMAX_DELAY);
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return (mb_event_group_t)status;
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}
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// Function to get notification about parameter change from application task
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static esp_err_t mbc_serial_slave_get_param_info(mb_param_info_t* reg_info, uint32_t timeout)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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ESP_ERR_INVALID_STATE,
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"Slave interface is not correctly initialized.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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esp_err_t err = ESP_ERR_TIMEOUT;
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MB_SLAVE_CHECK((mbs_opts->mbs_notification_queue_handle != NULL),
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ESP_ERR_INVALID_ARG, "mb queue handle is invalid.");
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MB_SLAVE_CHECK((reg_info != NULL), ESP_ERR_INVALID_ARG, "mb register information is invalid.");
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BaseType_t status = xQueueReceive(mbs_opts->mbs_notification_queue_handle,
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reg_info, pdMS_TO_TICKS(timeout));
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if (status == pdTRUE) {
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err = ESP_OK;
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}
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return err;
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}
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/* ----------------------- Callback functions for Modbus stack ---------------------------------*/
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// These are executed by modbus stack to read appropriate type of registers.
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// This is required to suppress warning when register start address is zero
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#pragma GCC diagnostic ignored "-Wtype-limits"
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// Callback function for reading of MB Input Registers
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eMBErrorCode eMBRegInputCBSerialSlave(UCHAR * pucRegBuffer, USHORT usAddress,
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USHORT usNRegs)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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MB_EILLSTATE, "Slave stack uninitialized.");
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MB_SLAVE_CHECK((pucRegBuffer != NULL),
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MB_EINVAL, "Slave stack call failed.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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USHORT usRegInputNregs = (USHORT)(mbs_opts->mbs_area_descriptors[MB_PARAM_INPUT].size >> 1); // Number of input registers
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USHORT usInputRegStart = (USHORT)mbs_opts->mbs_area_descriptors[MB_PARAM_INPUT].start_offset; // Get Modbus start address
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UCHAR* pucInputBuffer = (UCHAR*)mbs_opts->mbs_area_descriptors[MB_PARAM_INPUT].address; // Get instance address
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USHORT usRegs = usNRegs;
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eMBErrorCode eStatus = MB_ENOERR;
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USHORT iRegIndex;
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// If input or configuration parameters are incorrect then return an error to stack layer
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if ((usAddress >= usInputRegStart)
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&& (pucInputBuffer != NULL)
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&& (usNRegs >= 1)
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&& ((usAddress + usRegs) <= (usInputRegStart + usRegInputNregs + 1))
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&& (usRegInputNregs >= 1)) {
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iRegIndex = (USHORT)(usAddress - usInputRegStart - 1);
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iRegIndex <<= 1; // register Address to byte address
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pucInputBuffer += iRegIndex;
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UCHAR* pucBufferStart = pucInputBuffer;
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while (usRegs > 0) {
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_XFER_2_RD(pucRegBuffer, pucInputBuffer);
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iRegIndex += 2;
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usRegs -= 1;
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}
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// Send access notification
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(void)send_param_access_notification(MB_EVENT_INPUT_REG_RD);
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// Send parameter info to application task
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(void)send_param_info(MB_EVENT_INPUT_REG_RD, (uint16_t)usAddress,
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(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
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} else {
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eStatus = MB_ENOREG;
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}
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return eStatus;
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}
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// Callback function for reading of MB Holding Registers
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// Executed by stack when request to read/write holding registers is received
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eMBErrorCode eMBRegHoldingCBSerialSlave(UCHAR * pucRegBuffer, USHORT usAddress,
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USHORT usNRegs, eMBRegisterMode eMode)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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MB_EILLSTATE, "Slave stack uninitialized.");
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MB_SLAVE_CHECK((pucRegBuffer != NULL),
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MB_EINVAL, "Slave stack call failed.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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USHORT usRegHoldingNregs = (USHORT)(mbs_opts->mbs_area_descriptors[MB_PARAM_HOLDING].size >> 1);
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USHORT usRegHoldingStart = (USHORT)mbs_opts->mbs_area_descriptors[MB_PARAM_HOLDING].start_offset;
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UCHAR* pucHoldingBuffer = (UCHAR*)mbs_opts->mbs_area_descriptors[MB_PARAM_HOLDING].address;
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eMBErrorCode eStatus = MB_ENOERR;
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USHORT iRegIndex;
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USHORT usRegs = usNRegs;
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// Check input and configuration parameters for correctness
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if ((usAddress >= usRegHoldingStart)
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&& (pucHoldingBuffer != NULL)
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&& ((usAddress + usRegs) <= (usRegHoldingStart + usRegHoldingNregs + 1))
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&& (usRegHoldingNregs >= 1)
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&& (usNRegs >= 1)) {
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iRegIndex = (USHORT) (usAddress - usRegHoldingStart - 1);
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iRegIndex <<= 1; // register Address to byte address
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pucHoldingBuffer += iRegIndex;
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UCHAR* pucBufferStart = pucHoldingBuffer;
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switch (eMode) {
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case MB_REG_READ:
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while (usRegs > 0) {
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_XFER_2_RD(pucRegBuffer, pucHoldingBuffer);
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iRegIndex += 2;
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usRegs -= 1;
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};
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// Send access notification
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(void)send_param_access_notification(MB_EVENT_HOLDING_REG_RD);
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// Send parameter info
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(void)send_param_info(MB_EVENT_HOLDING_REG_RD, (uint16_t)usAddress,
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(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
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break;
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case MB_REG_WRITE:
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while (usRegs > 0) {
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_XFER_2_WR(pucHoldingBuffer, pucRegBuffer);
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pucHoldingBuffer += 2;
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iRegIndex += 2;
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usRegs -= 1;
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};
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// Send access notification
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(void)send_param_access_notification(MB_EVENT_HOLDING_REG_WR);
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// Send parameter info
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(void)send_param_info(MB_EVENT_HOLDING_REG_WR, (uint16_t)usAddress,
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(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
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break;
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}
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} else {
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eStatus = MB_ENOREG;
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}
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return eStatus;
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}
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// Callback function for reading of MB Coils Registers
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eMBErrorCode eMBRegCoilsCBSerialSlave(UCHAR* pucRegBuffer, USHORT usAddress,
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USHORT usNCoils, eMBRegisterMode eMode)
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{
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MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
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MB_EILLSTATE, "Slave stack uninitialized.");
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MB_SLAVE_CHECK((pucRegBuffer != NULL),
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MB_EINVAL, "Slave stack call failed.");
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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USHORT usRegCoilNregs = (USHORT)(mbs_opts->mbs_area_descriptors[MB_PARAM_COIL].size >> 1); // number of registers in storage area
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USHORT usRegCoilsStart = (USHORT)mbs_opts->mbs_area_descriptors[MB_PARAM_COIL].start_offset; // MB offset of coils registers
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UCHAR* pucRegCoilsBuf = (UCHAR*)mbs_opts->mbs_area_descriptors[MB_PARAM_COIL].address;
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eMBErrorCode eStatus = MB_ENOERR;
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USHORT iRegIndex;
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USHORT usCoils = usNCoils;
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usAddress--; // The address is already +1
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if ((usAddress >= usRegCoilsStart)
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&& (usRegCoilNregs >= 1)
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&& ((usAddress + usCoils) <= (usRegCoilsStart + (usRegCoilNregs << 4) + 1))
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&& (pucRegCoilsBuf != NULL)
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&& (usNCoils >= 1)) {
|
|
iRegIndex = (USHORT) (usAddress - usRegCoilsStart);
|
|
CHAR* pucCoilsDataBuf = (CHAR*)(pucRegCoilsBuf + (iRegIndex >> 3));
|
|
switch (eMode) {
|
|
case MB_REG_READ:
|
|
while (usCoils > 0) {
|
|
UCHAR ucResult = xMBUtilGetBits((UCHAR*)pucRegCoilsBuf, iRegIndex, 1);
|
|
xMBUtilSetBits(pucRegBuffer, iRegIndex - (usAddress - usRegCoilsStart), 1, ucResult);
|
|
iRegIndex++;
|
|
usCoils--;
|
|
}
|
|
// Send an event to notify application task about event
|
|
(void)send_param_access_notification(MB_EVENT_COILS_RD);
|
|
(void)send_param_info(MB_EVENT_COILS_RD, (uint16_t)usAddress,
|
|
(uint8_t*)(pucCoilsDataBuf), (uint16_t)usNCoils);
|
|
break;
|
|
case MB_REG_WRITE:
|
|
while (usCoils > 0) {
|
|
UCHAR ucResult = xMBUtilGetBits(pucRegBuffer,
|
|
iRegIndex - (usAddress - usRegCoilsStart), 1);
|
|
xMBUtilSetBits((uint8_t*)pucRegCoilsBuf, iRegIndex, 1, ucResult);
|
|
iRegIndex++;
|
|
usCoils--;
|
|
}
|
|
// Send an event to notify application task about event
|
|
(void)send_param_access_notification(MB_EVENT_COILS_WR);
|
|
(void)send_param_info(MB_EVENT_COILS_WR, (uint16_t)usAddress,
|
|
(uint8_t*)pucCoilsDataBuf, (uint16_t)usNCoils);
|
|
break;
|
|
} // switch ( eMode )
|
|
} else {
|
|
// If the configuration or input parameters are incorrect then return error to stack
|
|
eStatus = MB_ENOREG;
|
|
}
|
|
return eStatus;
|
|
}
|
|
|
|
// Callback function for reading of MB Discrete Input Registers
|
|
eMBErrorCode eMBRegDiscreteCBSerialSlave(UCHAR* pucRegBuffer, USHORT usAddress,
|
|
USHORT usNDiscrete)
|
|
{
|
|
MB_SLAVE_CHECK((mbs_interface_ptr != NULL),
|
|
MB_EILLSTATE, "Slave stack uninitialized.");
|
|
MB_SLAVE_CHECK((pucRegBuffer != NULL),
|
|
MB_EINVAL, "Slave stack call failed.");
|
|
mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
|
|
USHORT usRegDiscreteNregs = (USHORT)(mbs_opts->mbs_area_descriptors[MB_PARAM_DISCRETE].size >> 1); // number of registers in storage area
|
|
USHORT usRegDiscreteStart = (USHORT)mbs_opts->mbs_area_descriptors[MB_PARAM_DISCRETE].start_offset; // MB offset of registers
|
|
UCHAR* pucRegDiscreteBuf = (UCHAR*)mbs_opts->mbs_area_descriptors[MB_PARAM_DISCRETE].address; // the storage address
|
|
eMBErrorCode eStatus = MB_ENOERR;
|
|
USHORT iRegIndex, iRegBitIndex, iNReg;
|
|
UCHAR* pucDiscreteInputBuf;
|
|
iNReg = usNDiscrete / 8 + 1;
|
|
pucDiscreteInputBuf = (UCHAR*) pucRegDiscreteBuf;
|
|
// It already plus one in modbus function method.
|
|
usAddress--;
|
|
if ((usAddress >= usRegDiscreteStart)
|
|
&& (usRegDiscreteNregs >= 1)
|
|
&& (pucRegDiscreteBuf != NULL)
|
|
&& ((usAddress + usNDiscrete) <= (usRegDiscreteStart + (usRegDiscreteNregs * 16)))
|
|
&& (usNDiscrete >= 1)) {
|
|
iRegIndex = (USHORT) (usAddress - usRegDiscreteStart) / 8; // Get register index in the buffer for bit number
|
|
iRegBitIndex = (USHORT)(usAddress - usRegDiscreteStart) % 8; // Get bit index
|
|
UCHAR* pucTempBuf = &pucDiscreteInputBuf[iRegIndex];
|
|
while (iNReg > 0) {
|
|
*pucRegBuffer++ = xMBUtilGetBits(&pucDiscreteInputBuf[iRegIndex++], iRegBitIndex, 8);
|
|
iNReg--;
|
|
}
|
|
pucRegBuffer--;
|
|
// Last discrete
|
|
usNDiscrete = usNDiscrete % 8;
|
|
// Filling zero to high bit
|
|
*pucRegBuffer = *pucRegBuffer << (8 - usNDiscrete);
|
|
*pucRegBuffer = *pucRegBuffer >> (8 - usNDiscrete);
|
|
// Send an event to notify application task about event
|
|
(void)send_param_access_notification(MB_EVENT_DISCRETE_RD);
|
|
(void)send_param_info(MB_EVENT_DISCRETE_RD, (uint16_t)usAddress,
|
|
(uint8_t*)pucTempBuf, (uint16_t)usNDiscrete);
|
|
} else {
|
|
eStatus = MB_ENOREG;
|
|
}
|
|
return eStatus;
|
|
}
|
|
#pragma GCC diagnostic pop // require GCC
|
|
|
|
// Initialization of Modbus controller
|
|
esp_err_t mbc_serial_slave_create(mb_port_type_t port_type, void** handler)
|
|
{
|
|
MB_SLAVE_CHECK((port_type == MB_PORT_SERIAL_SLAVE),
|
|
ESP_ERR_NOT_SUPPORTED,
|
|
"mb port not supported = %u.", (uint32_t)port_type);
|
|
// 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)port_type);
|
|
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 = xTaskCreate((void*)&modbus_slave_task,
|
|
"modbus_slave_task",
|
|
MB_CONTROLLER_STACK_SIZE,
|
|
NULL,
|
|
MB_CONTROLLER_PRIORITY,
|
|
&mbs_opts->mbs_task_handle);
|
|
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 = mbc_serial_slave_set_descriptor;
|
|
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 = eMBRegDiscreteCBSerialSlave;
|
|
mbs_interface_ptr->slave_reg_cb_input = eMBRegInputCBSerialSlave;
|
|
mbs_interface_ptr->slave_reg_cb_holding = eMBRegHoldingCBSerialSlave;
|
|
mbs_interface_ptr->slave_reg_cb_coils = eMBRegCoilsCBSerialSlave;
|
|
|
|
*handler = (void*)mbs_interface_ptr;
|
|
|
|
return ESP_OK;
|
|
}
|
|
|