nuttx-apps/modbus/ascii/mbascii.c

/****************************************************************************
 * apps/modbus/ascii/mbascii.c
 *
 * FreeModbus Library: A portable Modbus implementation for Modbus ASCII/RTU.
 * Copyright (c) 2006 Christian Walter <wolti@sil.at>
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. The name of the author may not be used to endorse or promote products
 *    derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
 * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>

#include "port.h"

#include "modbus/mb.h"
#include "modbus/mbframe.h"
#include "modbus/mbport.h"

#include "mbascii.h"
#include "mbcrc.h"

#ifdef CONFIG_MB_ASCII_ENABLED

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#define MB_ASCII_DEFAULT_CR   '\r'  /* Default CR character for Modbus ASCII. */
#define MB_ASCII_DEFAULT_LF   '\n'  /* Default LF character for Modbus ASCII. */
#define MB_SER_PDU_SIZE_MIN   3     /* Minimum size of a Modbus ASCII frame. */
#define MB_SER_PDU_SIZE_MAX   256   /* Maximum size of a Modbus ASCII frame. */
#define MB_SER_PDU_SIZE_LRC   1     /* Size of LRC field in PDU. */
#define MB_SER_PDU_ADDR_OFF   0     /* Offset of slave address in Ser-PDU. */
#define MB_SER_PDU_PDU_OFF    1     /* Offset of Modbus-PDU in Ser-PDU. */

/****************************************************************************
 * Private Type Definitions
 ****************************************************************************/

typedef enum
{
  STATE_RX_IDLE,              /* Receiver is in idle state. */
  STATE_RX_RCV,               /* Frame is being received. */
  STATE_RX_WAIT_EOF           /* Wait for End of Frame. */
} eMBRcvState;

typedef enum
{
  STATE_TX_IDLE,              /* Transmitter is in idle state. */
  STATE_TX_START,             /* Starting transmission (':' sent). */
  STATE_TX_DATA,              /* Sending of data (Address, Data, LRC). */
  STATE_TX_END,               /* End of transmission. */
  STATE_TX_NOTIFY             /* Notify sender that the frame has been sent. */
} eMBSndState;

typedef enum
{
  BYTE_HIGH_NIBBLE,           /* Character for high nibble of byte. */
  BYTE_LOW_NIBBLE             /* Character for low nibble of byte. */
} eMBBytePos;

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

static uint8_t prvucMBint8_t2BIN(uint8_t ucCharacter);
static uint8_t prvucMBBIN2int8_t(uint8_t ucByte);
static uint8_t prvucMBLRC(uint8_t *pucFrame, uint16_t usLen);

/****************************************************************************
 * Private Data
 ****************************************************************************/

static volatile eMBSndState eSndState;
static volatile eMBRcvState eRcvState;

/* We reuse the Modbus RTU buffer because only one buffer is needed and the
 * RTU buffer is bigger.
 */

extern volatile uint8_t ucRTUBuf[];
static volatile uint8_t *ucASCIIBuf = ucRTUBuf;

static volatile uint16_t usRcvBufferPos;
static volatile eMBBytePos eBytePos;

static volatile uint8_t *pucSndBufferCur;
static volatile uint16_t usSndBufferCount;

static volatile uint8_t ucMBLFCharacter;

/****************************************************************************
 * Private Functions
 ****************************************************************************/

static uint8_t prvucMBint8_t2BIN(uint8_t ucCharacter)
{
  if ((ucCharacter >= '0') && (ucCharacter <= '9'))
    {
      return (uint8_t)(ucCharacter - '0');
    }
  else if ((ucCharacter >= 'A') && (ucCharacter <= 'F'))
    {
      return (uint8_t)(ucCharacter - 'A' + 0x0a);
    }
    else
    {
      return 0xff;
    }
}

static uint8_t prvucMBBIN2int8_t(uint8_t ucByte)
{
  if (ucByte <= 0x09)
    {
      return (uint8_t)('0' + ucByte);
    }
  else if ((ucByte >= 0x0a) && (ucByte <= 0x0f))
    {
      return (uint8_t)(ucByte - 0x0a + 'A');
    }
  else
    {
      /* Programming error. */

      DEBUGASSERT(0);
    }

  return '0';
}

static uint8_t prvucMBLRC(uint8_t * pucFrame, uint16_t usLen)
{
  uint8_t ucLocalLRC = 0;  /* LRC char initialized */

  while (usLen--)
    {
      ucLocalLRC += *pucFrame++;   /* Add buffer byte without carry */
    }

  /* Return twos complement */

  ucLocalLRC = (uint8_t) (-((int8_t) ucLocalLRC));
  return ucLocalLRC;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

eMBErrorCode eMBASCIIInit(uint8_t ucSlaveAddress, uint8_t ucPort,
                          speed_t ulBaudRate, eMBParity eParity)
{
  eMBErrorCode eStatus = MB_ENOERR;

  ENTER_CRITICAL_SECTION();
  ucMBLFCharacter = MB_ASCII_DEFAULT_LF;

  if (xMBPortSerialInit(ucPort, ulBaudRate, 7, eParity) != true)
    {
      eStatus = MB_EPORTERR;
    }
  else if (xMBPortTimersInit(CONFIG_MB_ASCII_TIMEOUT_SEC * 20000UL) != true)
    {
      eStatus = MB_EPORTERR;
    }

  EXIT_CRITICAL_SECTION();
  return eStatus;
}

void eMBASCIIStart(void)
{
  ENTER_CRITICAL_SECTION();
  vMBPortSerialEnable(true, false);
  eRcvState = STATE_RX_IDLE;
  EXIT_CRITICAL_SECTION();

  /* No special startup required for ASCII. */

  xMBPortEventPost(EV_READY);
}

void eMBASCIIStop(void)
{
  ENTER_CRITICAL_SECTION();
  vMBPortSerialEnable(false, false);
  vMBPortTimersDisable();
  EXIT_CRITICAL_SECTION();
}

eMBErrorCode eMBASCIIReceive(uint8_t *pucRcvAddress, uint8_t **pucFrame,
                             uint16_t *pusLength)
{
  eMBErrorCode eStatus = MB_ENOERR;

  ENTER_CRITICAL_SECTION();
  DEBUGASSERT(usRcvBufferPos < MB_SER_PDU_SIZE_MAX);

  /* Length and CRC check */

  if ((usRcvBufferPos >= MB_SER_PDU_SIZE_MIN) &&
      (prvucMBLRC((uint8_t *) ucASCIIBuf, usRcvBufferPos) == 0))
    {
      /* Save the address field. All frames are passed to the upper laid
       * and the decision if a frame is used is done there.
       */

      *pucRcvAddress = ucASCIIBuf[MB_SER_PDU_ADDR_OFF];

      /* Total length of Modbus-PDU is Modbus-Serial-Line-PDU minus
       * size of address field and CRC checksum.
       */

      *pusLength = usRcvBufferPos - MB_SER_PDU_PDU_OFF - MB_SER_PDU_SIZE_LRC;

      /* Return the start of the Modbus PDU to the caller. */

      *pucFrame = (uint8_t *) & ucASCIIBuf[MB_SER_PDU_PDU_OFF];
    }
  else
    {
      eStatus = MB_EIO;
    }

  EXIT_CRITICAL_SECTION();
  return eStatus;
}

eMBErrorCode eMBASCIISend(uint8_t ucSlaveAddress, const uint8_t *pucFrame,
                          uint16_t usLength)
{
  eMBErrorCode eStatus = MB_ENOERR;
  uint8_t usLRC;

  ENTER_CRITICAL_SECTION();

  /* Check if the receiver is still in idle state. If not we where too
   * slow with processing the received frame and the master sent another
   * frame on the network. We have to abort sending the frame.
   */

  if (eRcvState == STATE_RX_IDLE)
    {
      /* First byte before the Modbus-PDU is the slave address. */

      pucSndBufferCur = (uint8_t *) pucFrame - 1;
      usSndBufferCount = 1;

      /* Now copy the Modbus-PDU into the Modbus-Serial-Line-PDU. */

      pucSndBufferCur[MB_SER_PDU_ADDR_OFF] = ucSlaveAddress;
      usSndBufferCount += usLength;

      /* Calculate LRC checksum for Modbus-Serial-Line-PDU. */

      usLRC = prvucMBLRC((uint8_t *) pucSndBufferCur, usSndBufferCount);
      ucASCIIBuf[usSndBufferCount++] = usLRC;

      /* Activate the transmitter. */

      eSndState = STATE_TX_START;
      vMBPortSerialEnable(false, true);
    }
  else
    {
      eStatus = MB_EIO;
    }

  EXIT_CRITICAL_SECTION();
  return eStatus;
}

bool xMBASCIIReceiveFSM(void)
{
  bool xNeedPoll = false;
  uint8_t ucByte;
  uint8_t ucResult;

  DEBUGASSERT(eSndState == STATE_TX_IDLE);

  xMBPortSerialGetByte((int8_t *) & ucByte);
  switch (eRcvState)
    {
    /* A new character is received. If the character is a ':' the input
     * buffer is cleared. A CR-character signals the end of the data
     * block. Other characters are part of the data block and their
     * ASCII value is converted back to a binary representation.
     */

    case STATE_RX_RCV:

      /* Enable timer for character timeout. */

      vMBPortTimersEnable();
      if (ucByte == ':')
        {
          /* Empty receive buffer. */

          eBytePos = BYTE_HIGH_NIBBLE;
          usRcvBufferPos = 0;
        }
      else if (ucByte == MB_ASCII_DEFAULT_CR)
        {
          eRcvState = STATE_RX_WAIT_EOF;
        }
      else
        {
          ucResult = prvucMBint8_t2BIN(ucByte);
          switch (eBytePos)
          {
          /* High nibble of the byte comes first. We check for
           * a buffer overflow here.
           */

          case BYTE_HIGH_NIBBLE:
            if (usRcvBufferPos < MB_SER_PDU_SIZE_MAX)
              {
                ucASCIIBuf[usRcvBufferPos] = (uint8_t)(ucResult << 4);
                eBytePos = BYTE_LOW_NIBBLE;
                break;
              }
            else
              {
                /* not handled in Modbus specification but seems
                 * a reasonable implementation.
                 */

                eRcvState = STATE_RX_IDLE;

                /* Disable previously activated timer due to error state. */

                vMBPortTimersDisable();
              }
            break;

          case BYTE_LOW_NIBBLE:
            ucASCIIBuf[usRcvBufferPos] |= ucResult;
            usRcvBufferPos++;
            eBytePos = BYTE_HIGH_NIBBLE;
            break;
          }
        }
        break;

    case STATE_RX_WAIT_EOF:
      if (ucByte == ucMBLFCharacter)
        {
          /* Disable character timeout timer because all characters are
           * received.
           */

          vMBPortTimersDisable();

           /* Receiver is again in idle state. */

           eRcvState = STATE_RX_IDLE;

          /* Notify the caller of eMBASCIIReceive that a new frame
           * was received.
           */

          xNeedPoll = xMBPortEventPost(EV_FRAME_RECEIVED);
        }
      else if (ucByte == ':')
        {
          /* Empty receive buffer and back to receive state. */

          eBytePos = BYTE_HIGH_NIBBLE;
          usRcvBufferPos = 0;
          eRcvState = STATE_RX_RCV;

          /* Enable timer for character timeout. */

          vMBPortTimersEnable();
        }
      else
        {
          /* Frame is not okay. Delete entire frame. */

          eRcvState = STATE_RX_IDLE;
        }
        break;

    case STATE_RX_IDLE:
      if (ucByte == ':')
        {
          /* Enable timer for character timeout. */

          vMBPortTimersEnable();

          /* Reset the input buffers to store the frame. */

          usRcvBufferPos = 0;
          eBytePos = BYTE_HIGH_NIBBLE;
          eRcvState = STATE_RX_RCV;
        }
        break;
    }

  return xNeedPoll;
}

bool xMBASCIITransmitFSM(void)
{
  bool xNeedPoll = false;
  uint8_t ucByte;

  DEBUGASSERT(eRcvState == STATE_RX_IDLE);
  switch (eSndState)
  {
  /* Start of transmission. The start of a frame is defined by sending
   * the character ':'.
   */

  case STATE_TX_START:
    ucByte = ':';
    xMBPortSerialPutByte((int8_t)ucByte);
    eSndState = STATE_TX_DATA;
    eBytePos = BYTE_HIGH_NIBBLE;
    break;

  /* Send the data block. Each data byte is encoded as a character hex
   * stream with the high nibble sent first and the low nibble sent
   * last. If all data bytes are exhausted we send a '\r' character
   * to end the transmission.
   */

  case STATE_TX_DATA:
    if (usSndBufferCount > 0)
      {
        switch (eBytePos)
        {
        case BYTE_HIGH_NIBBLE:
          ucByte = prvucMBBIN2int8_t((uint8_t)(*pucSndBufferCur >> 4));
          xMBPortSerialPutByte((int8_t) ucByte);
          eBytePos = BYTE_LOW_NIBBLE;
          break;

        case BYTE_LOW_NIBBLE:
          ucByte = prvucMBBIN2int8_t((uint8_t)(*pucSndBufferCur & 0x0f));
          xMBPortSerialPutByte((int8_t)ucByte);
          pucSndBufferCur++;
          eBytePos = BYTE_HIGH_NIBBLE;
          usSndBufferCount--;
          break;
        }
      }
    else
      {
        xMBPortSerialPutByte(MB_ASCII_DEFAULT_CR);
        eSndState = STATE_TX_END;
      }
    break;

    /* Finish the frame by sending a LF character. */

    case STATE_TX_END:
      xMBPortSerialPutByte((int8_t)ucMBLFCharacter);

      /* We need another state to make sure that the CR character has
       * been sent.
       */

      eSndState = STATE_TX_NOTIFY;
      break;

    /* Notify the task which called eMBASCIISend that the frame has
     * been sent.
     */

    case STATE_TX_NOTIFY:
      eSndState = STATE_TX_IDLE;
      xNeedPoll = xMBPortEventPost(EV_FRAME_SENT);

      /* Disable transmitter. This prevents another transmit buffer
       * empty interrupt.
       */

      vMBPortSerialEnable(true, false);
      eSndState = STATE_TX_IDLE;
      break;

    /* We should not get a transmitter event if the transmitter is in
     * idle state.
     */

    case STATE_TX_IDLE:

      /* enable receiver/disable transmitter. */

      vMBPortSerialEnable(true, false);
      break;
    }

  return xNeedPoll;
}

bool xMBASCIITimerT1SExpired(void)
{
  switch (eRcvState)
  {
  /* If we have a timeout we go back to the idle state and wait for
   * the next frame.
   */

  case STATE_RX_RCV:
  case STATE_RX_WAIT_EOF:
    eRcvState = STATE_RX_IDLE;
    break;

  default:
    DEBUGASSERT(eRcvState == STATE_RX_RCV || eRcvState == STATE_RX_WAIT_EOF);
    break;
  }

  vMBPortTimersDisable();

  /* no context switch required. */

  return false;
}

#endif