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EV-Embedded-Control-System/middlewares/libmodbus/modbus-st-rtu.c

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/*
* Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* SPDX-License-Identifier: LGPL-2.1-or-later
*/
#include "errno.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "modbus-private.h"
#include <assert.h>
#include "modbus-rtu-private.h"
#include "modbus-rtu.h"
#include "uart_device.h"
#define TIMEROUT_SEND_MSG 1000
/* Table of CRC values for high-order byte */
static const uint8_t table_crc_hi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1,
0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1,
0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40};
/* Table of CRC values for low-order byte */
static const uint8_t table_crc_lo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5,
0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B,
0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE,
0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6,
0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3,
0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D,
0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8,
0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C,
0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21,
0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,
0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A,
0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA,
0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7,
0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51,
0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98,
0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D,
0x4C, 0x8C, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83,
0x41, 0x81, 0x80, 0x40};
/* Define the slave ID of the remote device to talk in master mode or set the
* internal slave ID in slave mode */
static int _modbus_set_slave(modbus_t *ctx, int slave)
{
int max_slave = (ctx->quirks & MODBUS_QUIRK_MAX_SLAVE) ? 255 : 247;
/* Broadcast address is 0 (MODBUS_BROADCAST_ADDRESS) */
if (slave >= 0 && slave <= max_slave) {
ctx->slave = slave;
} else {
errno = EINVAL;
return -1;
}
return 0;
}
/* Builds a RTU request header */
static int _modbus_rtu_build_request_basis(
modbus_t *ctx, int function, int addr, int nb, uint8_t *req)
{
assert(ctx->slave != -1);
req[0] = ctx->slave;
req[1] = function;
req[2] = addr >> 8;
req[3] = addr & 0x00ff;
req[4] = nb >> 8;
req[5] = nb & 0x00ff;
return _MODBUS_RTU_PRESET_REQ_LENGTH;
}
/* Builds a RTU response header */
static int _modbus_rtu_build_response_basis(sft_t *sft, uint8_t *rsp)
{
/* In this case, the slave is certainly valid because a check is already
* done in _modbus_rtu_listen */
rsp[0] = sft->slave;
rsp[1] = sft->function;
return _MODBUS_RTU_PRESET_RSP_LENGTH;
}
static uint16_t crc16(uint8_t *buffer, uint16_t buffer_length)
{
uint8_t crc_hi = 0xFF; /* high CRC byte initialized */
uint8_t crc_lo = 0xFF; /* low CRC byte initialized */
unsigned int i; /* will index into CRC lookup */
/* pass through message buffer */
while (buffer_length--) {
i = crc_lo ^ *buffer++; /* calculate the CRC */
crc_lo = crc_hi ^ table_crc_hi[i];
crc_hi = table_crc_lo[i];
}
return (crc_hi << 8 | crc_lo);
}
static int _modbus_rtu_prepare_response_tid(const uint8_t *req, int *req_length)
{
(*req_length) -= _MODBUS_RTU_CHECKSUM_LENGTH;
/* No TID */
return 0;
}
static int _modbus_rtu_send_msg_pre(uint8_t *req, int req_length)
{
uint16_t crc = crc16(req, req_length);
/* According to the MODBUS specs (p. 14), the low order byte of the CRC comes
* first in the RTU message */
req[req_length++] = crc & 0x00FF;
req[req_length++] = crc >> 8;
return req_length;
}
static ssize_t _modbus_rtu_send(modbus_t *ctx, const uint8_t *req, int req_length)
{
/* 使用usb/UART2/UART4的UART_Device来发送数据 */
modbus_rtu_t *ctx_rtu = ctx->backend_data;
struct UART_Device *pdev = ctx_rtu->dev;
if (0 == pdev->Send(pdev, (uint8_t *)req, req_length, TIMEROUT_SEND_MSG))
return req_length;
else
{
errno = EIO;
return -1;
}
}
static int _modbus_rtu_receive(modbus_t *ctx, uint8_t *req)
{
int rc;
modbus_rtu_t *ctx_rtu = ctx->backend_data;
if (ctx_rtu->confirmation_to_ignore) {
_modbus_receive_msg(ctx, req, MSG_CONFIRMATION);
/* Ignore errors and reset the flag */
ctx_rtu->confirmation_to_ignore = FALSE;
rc = 0;
if (ctx->debug) {
debug_printf("Confirmation to ignore\n");
}
} else {
rc = _modbus_receive_msg(ctx, req, MSG_INDICATION);
if (rc == 0) {
/* The next expected message is a confirmation to ignore */
ctx_rtu->confirmation_to_ignore = TRUE;
}
}
return rc;
}
static ssize_t _modbus_rtu_recv(modbus_t *ctx, uint8_t *rsp, int rsp_length, int timeout)
{
/* 使用usb/UART2/UART4的UART_Device来接收数据 */
modbus_rtu_t *ctx_rtu = ctx->backend_data;
struct UART_Device *pdev = ctx_rtu->dev;
if (0 == pdev->RecvByte(pdev, rsp, timeout))
return 1;
else
{
errno = EIO;
return -1;
}
}
static int _modbus_rtu_flush(modbus_t *);
static int _modbus_rtu_pre_check_confirmation(modbus_t *ctx,
const uint8_t *req,
const uint8_t *rsp,
int rsp_length)
{
/* Check responding slave is the slave we requested (except for broacast
* request) */
if (req[0] != rsp[0] && req[0] != MODBUS_BROADCAST_ADDRESS) {
if (ctx->debug) {
debug_fprintf(stderr,
"The responding slave %d isn't the requested slave %d\n",
rsp[0],
req[0]);
}
errno = EMBBADSLAVE;
return -1;
} else {
return 0;
}
}
/* The check_crc16 function shall return 0 if the message is ignored and the
message length if the CRC is valid. Otherwise it shall return -1 and set
errno to EMBBADCRC. */
static int _modbus_rtu_check_integrity(modbus_t *ctx, uint8_t *msg, const int msg_length)
{
uint16_t crc_calculated;
uint16_t crc_received;
int slave = msg[0];
/* Filter on the Modbus unit identifier (slave) in RTU mode to avoid useless
* CRC computing. */
if (slave != ctx->slave && slave != MODBUS_BROADCAST_ADDRESS) {
if (ctx->debug) {
debug_printf("Request for slave %d ignored (not %d)\n", slave, ctx->slave);
}
/* Following call to check_confirmation handles this error */
return 0;
}
crc_calculated = crc16(msg, msg_length - 2);
crc_received = (msg[msg_length - 1] << 8) | msg[msg_length - 2];
/* Check CRC of msg */
if (crc_calculated == crc_received) {
return msg_length;
} else {
if (ctx->debug) {
debug_fprintf(stderr,
"ERROR CRC received 0x%0X != CRC calculated 0x%0X\n",
crc_received,
crc_calculated);
}
if (ctx->error_recovery & MODBUS_ERROR_RECOVERY_PROTOCOL) {
_modbus_rtu_flush(ctx);
}
errno = EMBBADCRC;
return -1;
}
}
/* Sets up a serial port for RTU communications */
/* POSIX */
static int _modbus_rtu_connect(modbus_t *ctx)
{
/* 使用usb/UART2/UART4的UART_Device来初始化设备 */
modbus_rtu_t *ctx_rtu = ctx->backend_data;
struct UART_Device *pdev = ctx_rtu->dev;
pdev->Init(pdev, ctx_rtu->baud, ctx_rtu->parity, ctx_rtu->data_bit, ctx_rtu->stop_bit);
ctx->s = 1; //open(ctx_rtu->device, flags);
return 0;
}
// FIXME Temporary solution before rewriting Windows RTU backend
static unsigned int _modbus_rtu_is_connected(modbus_t *ctx)
{
return 1;
}
static void _modbus_rtu_close(modbus_t *ctx)
{
}
static int _modbus_rtu_flush(modbus_t *ctx)
{
/* 使用usb/UART2/UART4的UART_Device来flush数据 */
modbus_rtu_t *ctx_rtu = ctx->backend_data;
struct UART_Device *pdev = ctx_rtu->dev;
return pdev->Flush(pdev);
}
static int
_modbus_rtu_select(modbus_t *ctx, fd_set *rset, struct timeval *tv, int length_to_read)
{
// int s_rc;
// while ((s_rc = select(ctx->s + 1, rset, NULL, NULL, tv)) == -1) {
// if (errno == EINTR) {
// if (ctx->debug) {
// debug_fprintf(stderr, "A non blocked signal was caught\n");
// }
// /* Necessary after an error */
// FD_ZERO(rset);
// FD_SET(ctx->s, rset);
// } else {
// return -1;
// }
// }
// if (s_rc == 0) {
// /* Timeout */
// errno = ETIMEDOUT;
// return -1;
// }
return 0;
}
static void _modbus_rtu_free(modbus_t *ctx)
{
if (ctx->backend_data) {
free(((modbus_rtu_t *) ctx->backend_data)->device);
free(ctx->backend_data);
}
free(ctx);
}
// clang-format off
const modbus_backend_t _modbus_rtu_backend_uart = {
_MODBUS_BACKEND_TYPE_RTU,
_MODBUS_RTU_HEADER_LENGTH,
_MODBUS_RTU_CHECKSUM_LENGTH,
MODBUS_RTU_MAX_ADU_LENGTH,
_modbus_set_slave,
_modbus_rtu_build_request_basis,
_modbus_rtu_build_response_basis,
_modbus_rtu_prepare_response_tid,
_modbus_rtu_send_msg_pre,
_modbus_rtu_send,
_modbus_rtu_receive,
_modbus_rtu_recv,
_modbus_rtu_check_integrity,
_modbus_rtu_pre_check_confirmation,
_modbus_rtu_connect,
_modbus_rtu_is_connected,
_modbus_rtu_close,
_modbus_rtu_flush,
_modbus_rtu_select,
_modbus_rtu_free
};
// clang-format on
modbus_t *
modbus_new_st_rtu(const char *device, int baud, char parity, int data_bit, int stop_bit)
{
modbus_t *ctx;
modbus_rtu_t *ctx_rtu;
struct UART_Device *pdev;
/* Check device argument */
if (device == NULL || *device == 0) {
debug_fprintf(stderr, "The device string is empty\n");
errno = EINVAL;
return NULL;
}
ctx = (modbus_t *) malloc(sizeof(modbus_t));
if (ctx == NULL) {
return NULL;
}
_modbus_init_common(ctx);
ctx->backend = &_modbus_rtu_backend_uart;
pdev = GetUARTDevice((char *)device);
if (!pdev)
{
modbus_free(ctx);
errno = ENOENT;
return NULL;
}
ctx->backend_data = (modbus_rtu_t *) malloc(sizeof(modbus_rtu_t));
if (ctx->backend_data == NULL) {
modbus_free(ctx);
errno = ENOMEM;
return NULL;
}
ctx_rtu = (modbus_rtu_t *) ctx->backend_data;
ctx_rtu->dev = pdev;
/* Device name and \0 */
ctx_rtu->device = (char *) malloc((strlen(device) + 1) * sizeof(char));
if (ctx_rtu->device == NULL) {
modbus_free(ctx);
errno = ENOMEM;
return NULL;
}
strcpy(ctx_rtu->device, device);
ctx_rtu->baud = baud;
if (parity == 'N' || parity == 'E' || parity == 'O') {
ctx_rtu->parity = parity;
} else {
modbus_free(ctx);
errno = EINVAL;
return NULL;
}
ctx_rtu->data_bit = data_bit;
ctx_rtu->stop_bit = stop_bit;
ctx_rtu->confirmation_to_ignore = FALSE;
return ctx;
}
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