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https://github.com/espressif/esp-idf.git
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9693ef4918
fix slave destroy bug when master and slave init simultaneously add additional timer group options for master fix master and slave use the same timer group index (https://github.com/espressif/esp-idf/issues/4699)
249 lines
11 KiB
C
249 lines
11 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;
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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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// Send response buffer
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BOOL xSentState = xMBPortSerialTxPoll();
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if (xSentState) {
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(void)xMBPortEventPost( EV_FRAME_SENT );
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}
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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_MAX), 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_ODD), 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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const mb_communication_info_t* comm_info = (mb_communication_info_t*)&mbs_opts->mbs_comm;
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// Initialize Modbus stack using mbcontroller parameters
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status = eMBInit((eMBMode)comm_info->mode,
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(UCHAR)comm_info->slave_addr,
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(UCHAR)comm_info->port,
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(ULONG)comm_info->baudrate,
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MB_PORT_PARITY_GET(comm_info->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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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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// 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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// 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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mbs_interface_ptr = NULL;
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vMBPortSetMode((UCHAR)MB_PORT_INACTIVE);
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return ESP_OK;
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}
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// Initialization of Modbus controller
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esp_err_t mbc_serial_slave_create(void** handler)
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{
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// Allocate space for options
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if (mbs_interface_ptr == NULL) {
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mbs_interface_ptr = malloc(sizeof(mb_slave_interface_t));
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}
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MB_SLAVE_ASSERT(mbs_interface_ptr != NULL);
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vMBPortSetMode((UCHAR)MB_PORT_SERIAL_SLAVE);
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mb_slave_options_t* mbs_opts = &mbs_interface_ptr->opts;
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mbs_opts->port_type = MB_PORT_SERIAL_SLAVE; // set interface port type
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// Set default values of communication options
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mbs_opts->mbs_comm.mode = MB_MODE_RTU;
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mbs_opts->mbs_comm.slave_addr = MB_DEVICE_ADDRESS;
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mbs_opts->mbs_comm.port = MB_UART_PORT;
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mbs_opts->mbs_comm.baudrate = MB_DEVICE_SPEED;
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mbs_opts->mbs_comm.parity = MB_PARITY_NONE;
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// Initialization of active context of the Modbus controller
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BaseType_t status = 0;
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// Parameter change notification queue
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mbs_opts->mbs_event_group = xEventGroupCreate();
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MB_SLAVE_CHECK((mbs_opts->mbs_event_group != NULL),
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ESP_ERR_NO_MEM, "mb event group error.");
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// Parameter change notification queue
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mbs_opts->mbs_notification_queue_handle = xQueueCreate(
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MB_CONTROLLER_NOTIFY_QUEUE_SIZE,
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sizeof(mb_param_info_t));
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MB_SLAVE_CHECK((mbs_opts->mbs_notification_queue_handle != NULL),
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ESP_ERR_NO_MEM, "mb notify queue creation error.");
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// Create Modbus controller task
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status = xTaskCreatePinnedToCore((void*)&modbus_slave_task,
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"modbus_slave_task",
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MB_CONTROLLER_STACK_SIZE,
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NULL,
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MB_CONTROLLER_PRIORITY,
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&mbs_opts->mbs_task_handle,
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MB_PORT_TASK_AFFINITY);
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if (status != pdPASS) {
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vTaskDelete(mbs_opts->mbs_task_handle);
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MB_SLAVE_CHECK((status == pdPASS), ESP_ERR_NO_MEM,
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"mb controller task creation error, xTaskCreate() returns (0x%x).",
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(uint32_t)status);
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}
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MB_SLAVE_ASSERT(mbs_opts->mbs_task_handle != NULL); // The task is created but handle is incorrect
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// Initialize interface function pointers
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mbs_interface_ptr->check_event = mbc_serial_slave_check_event;
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mbs_interface_ptr->destroy = mbc_serial_slave_destroy;
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mbs_interface_ptr->get_param_info = mbc_serial_slave_get_param_info;
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mbs_interface_ptr->init = mbc_serial_slave_create;
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mbs_interface_ptr->set_descriptor = NULL; // Use common set descriptor function
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mbs_interface_ptr->setup = mbc_serial_slave_setup;
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mbs_interface_ptr->start = mbc_serial_slave_start;
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// Initialize stack callback function pointers
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mbs_interface_ptr->slave_reg_cb_discrete = NULL; // implemented in common layer
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mbs_interface_ptr->slave_reg_cb_input = NULL;
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mbs_interface_ptr->slave_reg_cb_holding = NULL;
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mbs_interface_ptr->slave_reg_cb_coils = NULL;
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*handler = (void*)mbs_interface_ptr;
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return ESP_OK;
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}
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