esp-idf/components/freemodbus/serial_slave/modbus_controller/mbc_serial_slave.c
Alex Lisitsyn 1ab9e81729 freemodbus: fix nvs access failure
place timer handler functions into IRAM
update timer port handlers
fix communication issues
fix offset issue in example
add kconfig option to place handlers into IRAM
2019-11-08 16:55:42 +08:00

526 lines
24 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; // &default_interface_inst;
// 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_EVEN), 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;
// Initialize Modbus stack using mbcontroller parameters
status = eMBInit((eMBMode)mbs_opts->mbs_comm.mode,
(UCHAR)mbs_opts->mbs_comm.slave_addr,
(UCHAR)mbs_opts->mbs_comm.port,
(ULONG)mbs_opts->mbs_comm.baudrate,
(eMBParity)mbs_opts->mbs_comm.parity);
MB_SLAVE_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE,
"mb stack initialization failure, eMBInit() returns (0x%x).", status);
#ifdef CONFIG_FMB_CONTROLLER_SLAVE_ID_SUPPORT
status = eMBSetSlaveID(MB_SLAVE_ID_SHORT, TRUE, (UCHAR*)mb_slave_id, sizeof(mb_slave_id));
MB_SLAVE_CHECK((status == MB_ENOERR), ESP_ERR_INVALID_STATE, "mb stack set slave ID failure.");
#endif
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;
}
// 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);
free(mbs_interface_ptr);
mbs_interface_ptr = NULL;
return ESP_OK;
}
esp_err_t mbc_serial_slave_set_descriptor(const mb_register_area_descriptor_t descr_info)
{
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_CHECK(((descr_info.type < MB_PARAM_COUNT) && (descr_info.type >= MB_PARAM_HOLDING)),
ESP_ERR_INVALID_ARG, "mb incorrect modbus instance type = (0x%x).",
(uint32_t)descr_info.type);
MB_SLAVE_CHECK((descr_info.address != NULL),
ESP_ERR_INVALID_ARG, "mb instance pointer is NULL.");
MB_SLAVE_CHECK((descr_info.size >= MB_INST_MIN_SIZE) && (descr_info.size < (MB_INST_MAX_SIZE)),
ESP_ERR_INVALID_ARG, "mb instance size is incorrect = (0x%x).",
(uint32_t)descr_info.size);
mbs_opts->mbs_area_descriptors[descr_info.type] = descr_info;
return ESP_OK;
}
// The helper function to get time stamp in microseconds
static uint64_t get_time_stamp(void)
{
uint64_t time_stamp = esp_timer_get_time();
return time_stamp;
}
// Helper function to send parameter information to application task
static esp_err_t send_param_info(mb_event_group_t par_type, uint16_t mb_offset,
uint8_t* par_address, uint16_t par_size)
{
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 error = ESP_FAIL;
mb_param_info_t par_info;
// Check if queue is not full the send parameter information
par_info.type = par_type;
par_info.size = par_size;
par_info.address = par_address;
par_info.time_stamp = get_time_stamp();
par_info.mb_offset = mb_offset;
BaseType_t status = xQueueSend(mbs_opts->mbs_notification_queue_handle,
&par_info, MB_PAR_INFO_TOUT);
if (pdTRUE == status) {
ESP_LOGD(MB_SLAVE_TAG, "Queue send parameter info (type, address, size): %d, 0x%.4x, %d",
par_type, (uint32_t)par_address, par_size);
error = ESP_OK;
} else if (errQUEUE_FULL == status) {
ESP_LOGD(MB_SLAVE_TAG, "Parameter queue is overflowed.");
}
return error;
}
// Helper function to send notification
static esp_err_t send_param_access_notification(mb_event_group_t event)
{
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_FAIL;
mb_event_group_t bits = (mb_event_group_t)xEventGroupSetBits(mbs_opts->mbs_event_group,
(EventBits_t)event);
if (bits & event) {
ESP_LOGD(MB_SLAVE_TAG, "The MB_REG_CHANGE_EVENT = 0x%.2x is set.", (uint8_t)event);
err = ESP_OK;
}
return err;
}
// 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"
// Callback function for reading of MB Input Registers
eMBErrorCode eMBRegInputCBSerialSlave(UCHAR * pucRegBuffer, USHORT usAddress,
USHORT usNRegs)
{
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 usRegInputNregs = (USHORT)(mbs_opts->mbs_area_descriptors[MB_PARAM_INPUT].size >> 1); // Number of input registers
USHORT usInputRegStart = (USHORT)mbs_opts->mbs_area_descriptors[MB_PARAM_INPUT].start_offset; // Get Modbus start address
UCHAR* pucInputBuffer = (UCHAR*)mbs_opts->mbs_area_descriptors[MB_PARAM_INPUT].address; // Get instance address
USHORT usRegs = usNRegs;
eMBErrorCode eStatus = MB_ENOERR;
USHORT iRegIndex;
// If input or configuration parameters are incorrect then return an error to stack layer
if ((usAddress >= usInputRegStart)
&& (pucInputBuffer != NULL)
&& (usNRegs >= 1)
&& ((usAddress + usRegs) <= (usInputRegStart + usRegInputNregs + 1))
&& (usRegInputNregs >= 1)) {
iRegIndex = (USHORT)(usAddress - usInputRegStart - 1);
iRegIndex <<= 1; // register Address to byte address
pucInputBuffer += iRegIndex;
UCHAR* pucBufferStart = pucInputBuffer;
while (usRegs > 0) {
_XFER_2_RD(pucRegBuffer, pucInputBuffer);
iRegIndex += 2;
usRegs -= 1;
}
// Send access notification
(void)send_param_access_notification(MB_EVENT_INPUT_REG_RD);
// Send parameter info to application task
(void)send_param_info(MB_EVENT_INPUT_REG_RD, (uint16_t)usAddress,
(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
} else {
eStatus = MB_ENOREG;
}
return eStatus;
}
// Callback function for reading of MB Holding Registers
// Executed by stack when request to read/write holding registers is received
eMBErrorCode eMBRegHoldingCBSerialSlave(UCHAR * pucRegBuffer, USHORT usAddress,
USHORT usNRegs, eMBRegisterMode eMode)
{
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 usRegHoldingNregs = (USHORT)(mbs_opts->mbs_area_descriptors[MB_PARAM_HOLDING].size >> 1);
USHORT usRegHoldingStart = (USHORT)mbs_opts->mbs_area_descriptors[MB_PARAM_HOLDING].start_offset;
UCHAR* pucHoldingBuffer = (UCHAR*)mbs_opts->mbs_area_descriptors[MB_PARAM_HOLDING].address;
eMBErrorCode eStatus = MB_ENOERR;
USHORT iRegIndex;
USHORT usRegs = usNRegs;
// Check input and configuration parameters for correctness
if ((usAddress >= usRegHoldingStart)
&& (pucHoldingBuffer != NULL)
&& ((usAddress + usRegs) <= (usRegHoldingStart + usRegHoldingNregs + 1))
&& (usRegHoldingNregs >= 1)
&& (usNRegs >= 1)) {
iRegIndex = (USHORT) (usAddress - usRegHoldingStart - 1);
iRegIndex <<= 1; // register Address to byte address
pucHoldingBuffer += iRegIndex;
UCHAR* pucBufferStart = pucHoldingBuffer;
switch (eMode) {
case MB_REG_READ:
while (usRegs > 0) {
_XFER_2_RD(pucRegBuffer, pucHoldingBuffer);
iRegIndex += 2;
usRegs -= 1;
};
// Send access notification
(void)send_param_access_notification(MB_EVENT_HOLDING_REG_RD);
// Send parameter info
(void)send_param_info(MB_EVENT_HOLDING_REG_RD, (uint16_t)usAddress,
(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
break;
case MB_REG_WRITE:
while (usRegs > 0) {
_XFER_2_WR(pucHoldingBuffer, pucRegBuffer);
pucHoldingBuffer += 2;
iRegIndex += 2;
usRegs -= 1;
};
// Send access notification
(void)send_param_access_notification(MB_EVENT_HOLDING_REG_WR);
// Send parameter info
(void)send_param_info(MB_EVENT_HOLDING_REG_WR, (uint16_t)usAddress,
(uint8_t*)pucBufferStart, (uint16_t)usNRegs);
break;
}
} else {
eStatus = MB_ENOREG;
}
return eStatus;
}
// Callback function for reading of MB Coils Registers
eMBErrorCode eMBRegCoilsCBSerialSlave(UCHAR* pucRegBuffer, USHORT usAddress,
USHORT usNCoils, eMBRegisterMode eMode)
{
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 usRegCoilNregs = (USHORT)(mbs_opts->mbs_area_descriptors[MB_PARAM_COIL].size >> 1); // number of registers in storage area
USHORT usRegCoilsStart = (USHORT)mbs_opts->mbs_area_descriptors[MB_PARAM_COIL].start_offset; // MB offset of coils registers
UCHAR* pucRegCoilsBuf = (UCHAR*)mbs_opts->mbs_area_descriptors[MB_PARAM_COIL].address;
eMBErrorCode eStatus = MB_ENOERR;
USHORT iRegIndex;
USHORT usCoils = usNCoils;
usAddress--; // The address is already +1
if ((usAddress >= usRegCoilsStart)
&& (usRegCoilNregs >= 1)
&& ((usAddress + usCoils) <= (usRegCoilsStart + (usRegCoilNregs << 4) + 1))
&& (pucRegCoilsBuf != NULL)
&& (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;
}