/**************************************************************************** * apps/examples/modbus/main.c * * Licensed to the Apache Software Foundation (ASF) under one or more * contributor license agreements. See the NOTICE file distributed with * this work for additional information regarding copyright ownership. The * ASF licenses this file to you 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. * **************************************************************************** * Leveraged from: * * FreeModbus Library: Linux Demo Application * Copyright (C) 2006 Christian Walter * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include "modbus/mb.h" #include "modbus/mbport.h" #ifdef CONFIG_EXAMPLES_MODBUS_REG_COILS_USERLEDS # include # include # include # include # include #endif /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Configuration ************************************************************/ #ifndef CONFIG_SERIAL_TERMIOS # error "CONFIG_SERIAL_TERMIOS is needed by modbus example" #endif #ifndef CONFIG_EXAMPLES_MODBUS_PORT # define CONFIG_EXAMPLES_MODBUS_PORT 0 #endif #ifndef CONFIG_EXAMPLES_MODBUS_BAUD # define CONFIG_EXAMPLES_MODBUS_BAUD B38400 #endif #ifndef CONFIG_EXAMPLES_MODBUS_PARITY # define CONFIG_EXAMPLES_MODBUS_PARITY MB_PAR_EVEN #endif #ifndef CONFIG_EXAMPLES_MODBUS_REG_INPUT_START # define CONFIG_EXAMPLES_MODBUS_REG_INPUT_START 1000 #endif #ifndef CONFIG_EXAMPLES_MODBUS_REG_INPUT_NREGS # define CONFIG_EXAMPLES_MODBUS_REG_INPUT_NREGS 4 #endif #ifndef CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START # define CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START 2000 #endif #ifndef CONFIG_EXAMPLES_MODBUS_REG_HOLDING_NREGS # define CONFIG_EXAMPLES_MODBUS_REG_HOLDING_NREGS 130 #endif #ifdef CONFIG_EXAMPLES_MODBUS_REG_COILS_USERLEDS # define CONFIG_USERLEDS_DEVPATH "/dev/userleds" #endif /**************************************************************************** * Private Types ****************************************************************************/ enum modbus_threadstate_e { STOPPED = 0, RUNNING, SHUTDOWN }; struct modbus_state_s { enum modbus_threadstate_e threadstate; uint16_t reginput[CONFIG_EXAMPLES_MODBUS_REG_INPUT_NREGS]; uint16_t regholding[CONFIG_EXAMPLES_MODBUS_REG_HOLDING_NREGS]; uint16_t regcoils[CONFIG_EXAMPLES_MODBUS_REG_COILS_NREGS]; #ifdef CONFIG_EXAMPLES_MODBUS_REG_COILS_USERLEDS int fd_leds; #endif pthread_t threadid; pthread_mutex_t lock; volatile bool quit; }; /**************************************************************************** * Private Function Prototypes ****************************************************************************/ static inline int modbus_initialize(void); static void *modbus_pollthread(void *pvarg); static inline int modbus_create_pollthread(void); static void modbus_showusage(FAR const char *progname, int exitcode); /**************************************************************************** * Private Data ****************************************************************************/ static struct modbus_state_s g_modbus; static const uint8_t g_slaveid[] = { 0xaa, 0xbb, 0xcc }; /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: modbus_initialize * * Description: * Called from the ModBus polling thread in order to initialized the * FreeModBus interface. * ****************************************************************************/ static inline int modbus_initialize(void) { eMBErrorCode mberr; int status; /* Verify that we are in the stopped state */ if (g_modbus.threadstate != STOPPED) { fprintf(stderr, "modbus_main: " "ERROR: Bad state: %d\n", g_modbus.threadstate); return EINVAL; } /* Initialize the ModBus demo data structures */ status = pthread_mutex_init(&g_modbus.lock, NULL); if (status != 0) { fprintf(stderr, "modbus_main: " "ERROR: pthread_mutex_init failed: %d\n", status); return status; } status = ENODEV; /* Initialize the FreeModBus library. * * MB_RTU = RTU mode * 0x0a = Slave address * CONFIG_EXAMPLES_MODBUS_PORT = port, default=0 (i.e., /dev/ttyS0) * CONFIG_EXAMPLES_MODBUS_BAUD = baud, default=B38400 * CONFIG_EXAMPLES_MODBUS_PARITY = parity, default=MB_PAR_EVEN */ mberr = eMBInit(MB_RTU, 0x0a, CONFIG_EXAMPLES_MODBUS_PORT, CONFIG_EXAMPLES_MODBUS_BAUD, CONFIG_EXAMPLES_MODBUS_PARITY); if (mberr != MB_ENOERR) { fprintf(stderr, "modbus_main: " "ERROR: eMBInit failed: %d\n", mberr); goto errout_with_mutex; } /* Set the slave ID * * 0x34 = Slave ID * true = Is running (run indicator status = 0xff) * g_slaveid = Additional values to be returned with the slave ID * 3 = Length of additional values (in bytes) */ mberr = eMBSetSlaveID(0x34, true, g_slaveid, 3); if (mberr != MB_ENOERR) { fprintf(stderr, "modbus_main: " "ERROR: eMBSetSlaveID failed: %d\n", mberr); goto errout_with_modbus; } /* Enable FreeModBus */ mberr = eMBEnable(); if (mberr != MB_ENOERR) { fprintf(stderr, "modbus_main: " "ERROR: eMBEnable failed: %d\n", mberr); goto errout_with_modbus; } /* Successfully initialized */ g_modbus.threadstate = RUNNING; return OK; errout_with_modbus: /* Release hardware resources. */ eMBClose(); errout_with_mutex: /* Free/uninitialize data structures */ pthread_mutex_destroy(&g_modbus.lock); g_modbus.threadstate = STOPPED; return status; } /**************************************************************************** * Name: modbus_pollthread * * Description: * This is the ModBus polling thread. * ****************************************************************************/ static void *modbus_pollthread(void *pvarg) { eMBErrorCode mberr; int ret; #ifdef CONFIG_EXAMPLES_MODBUS_REG_COILS_USERLEDS int i; userled_set_t ledbit; userled_set_t ledset = 0; userled_set_t supported; #endif /* Initialize the modbus */ ret = modbus_initialize(); if (ret != OK) { fprintf(stderr, "modbus_main: " "ERROR: modbus_initialize failed: %d\n", ret); return NULL; } srand(time(NULL)); /* Open the USERLED device */ #ifdef CONFIG_EXAMPLES_MODBUS_REG_COILS_USERLEDS printf("Opening %s\n", CONFIG_USERLEDS_DEVPATH); g_modbus.fd_leds = open(CONFIG_USERLEDS_DEVPATH, O_WRONLY); if (g_modbus.fd_leds < 0) { int errcode = errno; printf("ERROR: Failed to open %s: %d\n", CONFIG_USERLEDS_DEVPATH, errcode); goto stop_modbus_exit; } /* Get the set of LEDs supported */ ret = ioctl(g_modbus.fd_leds, ULEDIOC_SUPPORTED, (unsigned long)((uintptr_t)&supported)); if (ret < 0) { int errcode = errno; printf("ERROR: ioctl(ULEDIOC_SUPPORTED) failed: %d\n", errcode); close(g_modbus.fd_leds); goto stop_modbus_exit; } #endif /* Then loop until we are commanded to shutdown */ do { /* Poll */ mberr = eMBPoll(); if (mberr != MB_ENOERR) { break; } /* Generate some random input */ g_modbus.reginput[0] = (uint16_t)rand(); /* If Reg Coils controls USERLEDs, update it! */ #ifdef CONFIG_EXAMPLES_MODBUS_REG_COILS_USERLEDS ledset = 0; for (i = 0; i < CONFIG_EXAMPLES_MODBUS_REG_COILS_NREGS && i < 32; i++) { ledbit = g_modbus.regcoils[i] << i; ledset |= ledbit & supported; } ret = ioctl(g_modbus.fd_leds, ULEDIOC_SETALL, ledset); if (ret < 0) { int errcode = errno; printf("ERROR: ioctl(ULEDIOC_SUPPORTED) failed: %d\n", errcode); close(g_modbus.fd_leds); goto stop_modbus_exit; } #endif } while (g_modbus.threadstate != SHUTDOWN); #ifdef CONFIG_EXAMPLES_MODBUS_REG_COILS_USERLEDS stop_modbus_exit: #endif /* Disable */ eMBDisable(); /* Release hardware resources. */ eMBClose(); /* Free/uninitialize data structures */ pthread_mutex_destroy(&g_modbus.lock); g_modbus.threadstate = STOPPED; return NULL; } /**************************************************************************** * Name: modbus_create_pollthread * * Description: * Start the ModBus polling thread * ****************************************************************************/ static inline int modbus_create_pollthread(void) { int ret; if (g_modbus.threadstate == STOPPED) { ret = pthread_create(&g_modbus.threadid, NULL, modbus_pollthread, NULL); } else { ret = EINVAL; } return ret; } /**************************************************************************** * Name: modbus_showusage * * Description: * Show usage of the demo program and exit * ****************************************************************************/ static void modbus_showusage(FAR const char *progname, int exitcode) { printf("USAGE: %s [-d|e|s|q|h]\n\n", progname); printf("Where:\n"); printf(" -d : Disable protocol stack\n"); printf(" -e : Enable the protocol stack\n"); printf(" -s : Show current status\n"); printf(" -q : Quit application\n"); printf(" -h : Show this information\n"); printf("\n"); exit(exitcode); } /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: modbus_main * * Description: * This is the main entry point to the demo program * ****************************************************************************/ int main(int argc, FAR char *argv[]) { int option; int ret; /* Handle command line arguments */ g_modbus.quit = false; while ((option = getopt(argc, argv, "desqh")) != ERROR) { switch (option) { case 'd': /* Disable protocol stack */ pthread_mutex_lock(&g_modbus.lock); g_modbus.threadstate = SHUTDOWN; pthread_mutex_unlock(&g_modbus.lock); break; case 'e': /* Enable the protocol stack */ { ret = modbus_create_pollthread(); if (ret != OK) { fprintf(stderr, "modbus_main: " "ERROR: modbus_create_pollthread failed: %d\n", ret); exit(EXIT_FAILURE); } } break; case 's': /* Show current status */ switch (g_modbus.threadstate) { case RUNNING: printf("modbus_main: Protocol stack is running\n"); break; case STOPPED: printf("modbus_main: Protocol stack is stopped\n"); break; case SHUTDOWN: printf("modbus_main: Protocol stack is shutting down\n"); break; default: fprintf(stderr, "modbus_main: " "ERROR: Invalid thread state: %d\n", g_modbus.threadstate); break; } break; case 'q': /* Quit application */ g_modbus.quit = true; pthread_kill(g_modbus.threadid, 9); break; case 'h': /* Show help info */ modbus_showusage(argv[0], EXIT_SUCCESS); break; default: fprintf(stderr, "modbus_main: " "ERROR: Unrecognized option: '%c'\n", option); modbus_showusage(argv[0], EXIT_FAILURE); break; } } return EXIT_SUCCESS; } /**************************************************************************** * Name: eMBRegInputCB * * Description: * Required FreeModBus callback function * ****************************************************************************/ eMBErrorCode eMBRegInputCB(uint8_t *buffer, uint16_t address, uint16_t nregs) { eMBErrorCode mberr = MB_ENOERR; int index; if ((address >= CONFIG_EXAMPLES_MODBUS_REG_INPUT_START) && (address + nregs <= CONFIG_EXAMPLES_MODBUS_REG_INPUT_START + CONFIG_EXAMPLES_MODBUS_REG_INPUT_NREGS)) { index = (int)(address - CONFIG_EXAMPLES_MODBUS_REG_INPUT_START); while (nregs > 0) { *buffer++ = (uint8_t)(g_modbus.reginput[index] & 0xff); *buffer++ = (uint8_t)(g_modbus.reginput[index] >> 8); index++; nregs--; } } else { mberr = MB_ENOREG; } return mberr; } /**************************************************************************** * Name: eMBRegHoldingCB * * Description: * Required FreeModBus callback function * ****************************************************************************/ eMBErrorCode eMBRegHoldingCB(uint8_t *buffer, uint16_t address, uint16_t nregs, eMBRegisterMode mode) { eMBErrorCode mberr = MB_ENOERR; int index; if ((address >= CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START) && (address + nregs <= CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START + CONFIG_EXAMPLES_MODBUS_REG_HOLDING_NREGS)) { index = (int)(address - CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START); switch (mode) { /* Pass current register values to the protocol stack. */ case MB_REG_READ: while (nregs > 0) { *buffer++ = (uint8_t)(g_modbus.regholding[index] & 0xff); *buffer++ = (uint8_t)(g_modbus.regholding[index] >> 8); index++; nregs--; } break; /* Update current register values with new values from the * protocol stack. */ case MB_REG_WRITE: while (nregs > 0) { g_modbus.regholding[index] = *buffer++; g_modbus.regholding[index] |= *buffer++ << 8; index++; nregs--; } break; } } else { mberr = MB_ENOREG; } return mberr; } /**************************************************************************** * Name: eMBRegCoilsCB * * Description: * Required FreeModBus callback function * ****************************************************************************/ eMBErrorCode eMBRegCoilsCB(uint8_t *buffer, uint16_t address, uint16_t ncoils, eMBRegisterMode mode) { eMBErrorCode mberr = MB_ENOERR; int index; if ((address >= CONFIG_EXAMPLES_MODBUS_REG_COILS_START) && (address + ncoils <= CONFIG_EXAMPLES_MODBUS_REG_COILS_START + CONFIG_EXAMPLES_MODBUS_REG_COILS_NREGS)) { index = (int)(address - CONFIG_EXAMPLES_MODBUS_REG_COILS_START); switch (mode) { /* Pass current register values to the protocol stack. */ case MB_REG_READ: while (ncoils > 0) { *buffer++ = (uint8_t)(g_modbus.regcoils[index] & 0xff); *buffer++ = (uint8_t)(g_modbus.regcoils[index] >> 8); index++; ncoils--; } break; /* Update current register values with new values from the * protocol stack. */ case MB_REG_WRITE: while (ncoils > 0) { g_modbus.regcoils[index] = *buffer++; g_modbus.regcoils[index] |= *buffer++ << 8; index++; ncoils--; } break; } } else { mberr = MB_ENOREG; } return mberr; } /**************************************************************************** * Name: eMBRegDiscreteCB * * Description: * Required FreeModBus callback function * ****************************************************************************/ eMBErrorCode eMBRegDiscreteCB(uint8_t *buffer, uint16_t address, uint16_t ndiscrete) { return MB_ENOREG; }