529 lines
15 KiB
C
529 lines
15 KiB
C
/****************************************************************************
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* apps/modbus/rtu/mbrtu_m.c
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*
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* FreeModbus Library: A portable Modbus implementation for Modbus ASCII/RTU.
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* Copyright (c) 2013 China Beijing Armink <armink.ztl@gmail.com>
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. The name of the author may not be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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* IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdlib.h>
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#include <string.h>
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#include <assert.h>
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#include "port.h"
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#include "modbus/mb.h"
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#include "modbus/mb_m.h"
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#include "mbrtu_m.h"
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#include "modbus/mbframe.h"
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#include "mbcrc.h"
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#include "modbus/mbport.h"
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#if defined(CONFIG_MB_RTU_MASTER)
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#define MB_SER_PDU_SIZE_MIN 4 /* Minimum size of a Modbus RTU
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* frame. */
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#define MB_SER_PDU_SIZE_MAX 256 /* Maximum size of a Modbus RTU
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* frame. */
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#define MB_SER_PDU_SIZE_CRC 2 /* Size of CRC field in PDU. */
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#define MB_SER_PDU_ADDR_OFF 0 /* Offset of slave address in
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* Ser-PDU. */
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#define MB_SER_PDU_PDU_OFF 1 /* Offset of Modbus-PDU in Ser-PDU. */
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/****************************************************************************
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* Private Type Definitions
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****************************************************************************/
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typedef enum
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{
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STATE_M_RX_INIT, /* Receiver is in initial state. */
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STATE_M_RX_IDLE, /* Receiver is in idle state. */
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STATE_M_RX_RCV, /* Frame is being received. */
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STATE_M_RX_ERROR, /* If the frame is invalid. */
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} eMBMasterRcvState;
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typedef enum
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{
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STATE_M_TX_IDLE, /* Transmitter is in idle state. */
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STATE_M_TX_XMIT, /* Transmitter is in transfer state. */
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STATE_M_TX_XFWR, /* Transmitter is in transfer finish and
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* wait receive state. */
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} eMBMasterSndState;
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static volatile eMBMasterSndState eSndState;
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static volatile eMBMasterRcvState eRcvState;
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static volatile uint8_t ucMasterRTUSndBuf[MB_PDU_SIZE_MAX];
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static volatile uint8_t ucMasterRTURcvBuf[MB_SER_PDU_SIZE_MAX];
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static volatile uint16_t usMasterSendPDULength;
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static volatile uint8_t *pucMasterSndBufferCur;
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static volatile uint16_t usMasterSndBufferCount;
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static volatile uint16_t usMasterRcvBufferPos;
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static volatile bool xFrameIsBroadcast = false;
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static volatile eMBMasterTimerMode eMasterCurTimerMode;
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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eMBErrorCode eMBMasterRTUInit(uint8_t ucPort, speed_t ulBaudRate,
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eMBParity eParity)
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{
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eMBErrorCode eStatus = MB_ENOERR;
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speed_t usTimerT35_50us;
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ENTER_CRITICAL_SECTION();
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/* Modbus RTU uses 8 Databits. */
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if (xMBMasterPortSerialInit(ucPort, ulBaudRate, 8, eParity) != true)
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{
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eStatus = MB_EPORTERR;
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}
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else
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{
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/* If baudrate > 19200 then we should use the fixed timer values t35 =
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* 1750us. Otherwise t35 must be 3.5 times the character time.
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*/
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if (ulBaudRate > 19200)
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{
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usTimerT35_50us = 35; /* 1800us. */
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}
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else
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{
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/* The timer reload value for a character is given by: ChTimeValue =
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* Ticks_per_1s / ( Baudrate / 11 ) = 11 * Ticks_per_1s / Baudrate =
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* 220000 / Baudrate The reload for t3.5 is 1.5 times this value and
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* similarly for t3.5.
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*/
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usTimerT35_50us = (7UL * 220000UL) / (2UL * ulBaudRate);
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}
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if (xMBMasterPortTimersInit((uint16_t) usTimerT35_50us) != true)
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{
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eStatus = MB_EPORTERR;
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}
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}
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EXIT_CRITICAL_SECTION();
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return eStatus;
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}
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void eMBMasterRTUStart(void)
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{
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ENTER_CRITICAL_SECTION();
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/* Initially the receiver is in the state STATE_M_RX_INIT. we start the timer
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* and if no character is received within t3.5 we change to STATE_M_RX_IDLE.
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* This makes sure that we delay startup of the modbus protocol stack until
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* the bus is free.
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*/
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eRcvState = STATE_M_RX_INIT;
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vMBMasterPortSerialEnable(true, false);
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vMBMasterPortTimersT35Enable();
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EXIT_CRITICAL_SECTION();
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}
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void eMBMasterRTUStop(void)
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{
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ENTER_CRITICAL_SECTION();
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vMBMasterPortSerialEnable(false, false);
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vMBMasterPortTimersDisable();
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EXIT_CRITICAL_SECTION();
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}
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eMBErrorCode eMBMasterRTUReceive(uint8_t *pucRcvAddress, uint8_t **pucFrame,
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uint16_t *pusLength)
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{
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eMBErrorCode eStatus = MB_ENOERR;
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ENTER_CRITICAL_SECTION();
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DEBUGASSERT(usMasterRcvBufferPos < MB_SER_PDU_SIZE_MAX);
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/* Length and CRC check */
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if ((usMasterRcvBufferPos >= MB_SER_PDU_SIZE_MIN)
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&& (usMBCRC16((uint8_t *) ucMasterRTURcvBuf, usMasterRcvBufferPos) == 0))
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{
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/* Save the address field. All frames are passed to the upper laid and
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* the decision if a frame is used is done there.
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*/
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*pucRcvAddress = ucMasterRTURcvBuf[MB_SER_PDU_ADDR_OFF];
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/* Total length of Modbus-PDU is Modbus-Serial-Line-PDU minus size of
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* address field and CRC checksum.
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*/
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*pusLength =
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(uint16_t) (usMasterRcvBufferPos - MB_SER_PDU_PDU_OFF -
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MB_SER_PDU_SIZE_CRC);
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/* Return the start of the Modbus PDU to the caller. */
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*pucFrame = (uint8_t *) & ucMasterRTURcvBuf[MB_SER_PDU_PDU_OFF];
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}
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else
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{
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eStatus = MB_EIO;
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}
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EXIT_CRITICAL_SECTION();
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return eStatus;
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}
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eMBErrorCode eMBMasterRTUSend(uint8_t ucSlaveAddress, const uint8_t *pucFrame,
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uint16_t usLength)
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{
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eMBErrorCode eStatus = MB_ENOERR;
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uint16_t usCRC16;
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if (ucSlaveAddress > CONFIG_MB_MASTER_TOTAL_SLAVE_NUM)
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{
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return MB_EINVAL;
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}
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ENTER_CRITICAL_SECTION();
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/* Check if the receiver is still in idle state. If not we where to slow with
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* processing the received frame and the master sent another frame on the
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* network. We have to abort sending the frame.
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*/
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if (eRcvState == STATE_M_RX_IDLE)
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{
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/* First byte before the Modbus-PDU is the slave address. */
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pucMasterSndBufferCur = (uint8_t *) pucFrame - 1;
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usMasterSndBufferCount = 1;
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/* Now copy the Modbus-PDU into the Modbus-Serial-Line-PDU. */
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pucMasterSndBufferCur[MB_SER_PDU_ADDR_OFF] = ucSlaveAddress;
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usMasterSndBufferCount += usLength;
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/* Calculate CRC16 checksum for Modbus-Serial-Line-PDU. */
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usCRC16 =
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usMBCRC16((uint8_t *) pucMasterSndBufferCur, usMasterSndBufferCount);
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ucMasterRTUSndBuf[usMasterSndBufferCount++] = (uint8_t) (usCRC16 & 0xFF);
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ucMasterRTUSndBuf[usMasterSndBufferCount++] = (uint8_t) (usCRC16 >> 8);
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/* Activate the transmitter. */
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eSndState = STATE_M_TX_XMIT;
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vMBMasterPortSerialEnable(false, true);
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}
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else
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{
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eStatus = MB_EIO;
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}
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EXIT_CRITICAL_SECTION();
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return eStatus;
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}
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bool xMBMasterRTUReceiveFSM(void)
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{
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bool xTaskNeedSwitch = false;
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uint8_t ucByte;
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DEBUGASSERT((eSndState == STATE_M_TX_IDLE) ||
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(eSndState == STATE_M_TX_XFWR));
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/* Always read the character. */
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xMBMasterPortSerialGetByte((int8_t *) & ucByte);
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switch (eRcvState)
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{
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/* If we have received a character in the init state we have to wait
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* until the frame is finished.
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*/
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case STATE_M_RX_INIT:
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vMBMasterPortTimersT35Enable();
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break;
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/* In the error state we wait until all characters in the damaged frame
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* are transmitted.
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*/
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case STATE_M_RX_ERROR:
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vMBMasterPortTimersT35Enable();
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break;
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/* In the idle state we wait for a new character. If a character is
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* received the t1.5 and t3.5 timers are started and the receiver is in
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* the state STATE_RX_RECEIVCE and disable early the timer of respond
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* timeout.
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*/
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case STATE_M_RX_IDLE:
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/* In time of respond timeout,the receiver receive a frame. Disable timer
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* of respond timeout and change the transmitter state to idle.
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*/
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vMBMasterPortTimersDisable();
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eSndState = STATE_M_TX_IDLE;
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usMasterRcvBufferPos = 0;
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ucMasterRTURcvBuf[usMasterRcvBufferPos++] = ucByte;
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eRcvState = STATE_M_RX_RCV;
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/* Enable t3.5 timers. */
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vMBMasterPortTimersT35Enable();
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break;
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/* We are currently receiving a frame. Reset the timer after every
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* character received. If more than the maximum possible number of bytes
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* in a modbus frame is received the frame is ignored.
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*/
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case STATE_M_RX_RCV:
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if (usMasterRcvBufferPos < MB_SER_PDU_SIZE_MAX)
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{
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ucMasterRTURcvBuf[usMasterRcvBufferPos++] = ucByte;
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}
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else
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{
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eRcvState = STATE_M_RX_ERROR;
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}
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vMBMasterPortTimersT35Enable();
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break;
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}
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return xTaskNeedSwitch;
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}
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bool xMBMasterRTUTransmitFSM(void)
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{
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bool xNeedPoll = false;
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DEBUGASSERT(eRcvState == STATE_M_RX_IDLE);
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switch (eSndState)
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{
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/* We should not get a transmitter event if the transmitter is in idle
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* state.
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*/
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case STATE_M_TX_IDLE:
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/* enable receiver/disable transmitter. */
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vMBMasterPortSerialEnable(true, false);
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break;
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case STATE_M_TX_XMIT:
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/* check if we are finished. */
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if (usMasterSndBufferCount != 0)
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{
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xMBMasterPortSerialPutByte((uint8_t) * pucMasterSndBufferCur);
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pucMasterSndBufferCur++; /* next byte in sendbuffer. */
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usMasterSndBufferCount--;
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}
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else
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{
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xFrameIsBroadcast =
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(ucMasterRTUSndBuf[MB_SER_PDU_ADDR_OFF] ==
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MB_ADDRESS_BROADCAST) ? true : false;
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/* Disable transmitter. This prevents another transmit buffer empty
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* interrupt.
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*/
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vMBMasterPortSerialEnable(true, false);
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eSndState = STATE_M_TX_XFWR;
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/* If the frame is broadcast ,master will enable timer of convert
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* delay, else master will enable timer of respond timeout.
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*/
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if (xFrameIsBroadcast == true)
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{
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vMBMasterPortTimersConvertDelayEnable();
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}
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else
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{
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vMBMasterPortTimersRespondTimeoutEnable();
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}
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}
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break;
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case STATE_M_TX_XFWR:
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default:
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break;
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}
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return xNeedPoll;
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}
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bool xMBMasterRTUTimerExpired(void)
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{
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bool xNeedPoll = false;
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switch (eRcvState)
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{
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/* Timer t35 expired. Startup phase is finished. */
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case STATE_M_RX_INIT:
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xNeedPoll = xMBMasterPortEventPost(EV_MASTER_READY);
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break;
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/* A frame was received and t35 expired. Notify the listener that a new
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* frame was received.
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*/
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case STATE_M_RX_RCV:
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xNeedPoll = xMBMasterPortEventPost(EV_MASTER_FRAME_RECEIVED);
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break;
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/* An error occurred while receiving the frame. */
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case STATE_M_RX_ERROR:
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vMBMasterSetErrorType(EV_ERROR_RECEIVE_DATA);
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xNeedPoll = xMBMasterPortEventPost(EV_MASTER_ERROR_PROCESS);
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break;
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/* Function called in an illegal state. */
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default:
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DEBUGASSERT((eRcvState == STATE_M_RX_INIT) ||
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(eRcvState == STATE_M_RX_RCV) ||
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(eRcvState == STATE_M_RX_ERROR) ||
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(eRcvState == STATE_M_RX_IDLE));
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break;
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}
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eRcvState = STATE_M_RX_IDLE;
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switch (eSndState)
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{
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/* A frame was send finish and convert delay or respond timeout expired.
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* If the frame is broadcast,The master will idle,and if the frame is not
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* broadcast.Notify the listener process error.
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*/
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case STATE_M_TX_XFWR:
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if (xFrameIsBroadcast == false)
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{
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vMBMasterSetErrorType(EV_ERROR_RESPOND_TIMEOUT);
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xNeedPoll = xMBMasterPortEventPost(EV_MASTER_ERROR_PROCESS);
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}
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break;
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/* Function called in an illegal state. */
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default:
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DEBUGASSERT((eSndState == STATE_M_TX_XFWR) ||
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(eSndState == STATE_M_TX_IDLE));
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break;
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}
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eSndState = STATE_M_TX_IDLE;
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vMBMasterPortTimersDisable();
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/* If timer mode is convert delay, the master event then turns
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* EV_MASTER_EXECUTE status.
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*/
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if (eMasterCurTimerMode == MB_TMODE_CONVERT_DELAY)
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{
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xNeedPoll = xMBMasterPortEventPost(EV_MASTER_EXECUTE);
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}
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return xNeedPoll;
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}
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/* Get Modbus Master send RTU's buffer address pointer.*/
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void vMBMasterGetRTUSndBuf(uint8_t **pucFrame)
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{
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*pucFrame = (uint8_t *) ucMasterRTUSndBuf;
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}
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/* Get Modbus Master send PDU's buffer address pointer.*/
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void vMBMasterGetPDUSndBuf(uint8_t **pucFrame)
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{
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*pucFrame = (uint8_t *) & ucMasterRTUSndBuf[MB_SER_PDU_PDU_OFF];
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}
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/* Set Modbus Master send PDU's buffer length.*/
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void vMBMasterSetPDUSndLength(uint16_t SendPDULength)
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{
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usMasterSendPDULength = SendPDULength;
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}
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/* Get Modbus Master send PDU's buffer length.*/
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uint16_t usMBMasterGetPDUSndLength(void)
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{
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return usMasterSendPDULength;
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}
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/* Set Modbus Master current timer mode.*/
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void vMBMasterSetCurTimerMode(eMBMasterTimerMode eMBTimerMode)
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{
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eMasterCurTimerMode = eMBTimerMode;
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}
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/* The master request is broadcast? */
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bool xMBMasterRequestIsBroadcast(void)
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{
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return xFrameIsBroadcast;
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}
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#endif
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