modbus-TC.zip_avr modbus_gettingqdd_modbus_zip

/************************************************************************* Title: Yet another (small) modbus implementation for the avr. Author: Max Brueggemann Hardware: any AVR with hardware UART, tested on Atmega 88/168 at 20Mhz License: GNU General Public License DESCRIPTION: Refer to the header file yaMBSiavr.h. USAGE: Refer to the header file yaMBSiavr.h. LICENSE: Copyright (C) 2016 Max Brueggemann This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or any later version. This program 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 General Public License for more details. *************************************************************************/ #include <avr/io.h> #include "yaMBSiavr.h" #include <avr/interrupt.h> volatile unsigned char BusState = 0; volatile uint16_t modbusTimer = 0; volatile unsigned char rxbuffer[MaxFrameIndex+1]; volatile uint16_t DataPos = 0; volatile unsigned char PacketTopIndex = 7; volatile unsigned char modBusStaMaStates = 0; uint8_t modbusGetBusState(void) { return BusState; } #if ADDRESS_MODE == SINGLE_ADR volatile unsigned char Address = 0x00; uint8_t modbusGetAddress(void) { return Address; } void modbusSetAddress(unsigned char newadr) { Address = newadr; } #endif #if PHYSICAL_TYPE == 485 void transceiver_txen(void) { //TRANSCEIVER_ENABLE_PORT|=(1<<TRANSCEIVER_ENABLE_PIN); PORTD |= 0x10; } void transceiver_rxen(void) { //TRANSCEIVER_ENABLE_PORT&=~(1<<TRANSCEIVER_ENABLE_PIN); PORTD &= 0xEF; } #endif /* A fairly simple Modbus compliant 16 Bit CRC algorithm. * Returns 1 if the crc check is positive, returns 0 if it fails. * Appends */ uint16_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize) //A standard CRC algorithm { uint16_t out=0xffff; uint16_t carry; unsigned char n; inputSize++; for (int l=0; l<inputSize; l++) { out ^= ptrToArray[l]; for (n = 0; n < 8; n++) { carry = out & 1; out >>= 1; if (carry) out ^= 0xA001; } } //out=0x1234; if ((ptrToArray[inputSize]==out%256) && (ptrToArray[inputSize+1]==out/256)) //check { return 1; } else { ptrToArray[inputSize]=out%256; //append Lo ptrToArray[inputSize+1]=out/256; //append Hi return 0; } } /* @brief: copies a single or multiple words from one array of bytes to another array of bytes * amount must not be bigger than 255... * */ void listRegisterCopy(volatile uint8_t *source, volatile uint8_t *target, uint8_t amount) { for (uint8_t c=0; c<amount; c++) { *(target+c)=*(source+c); } } /* @brief: copies a single bit from one char to another char (or arrays thereof) * * */ void listBitCopy(volatile uint8_t *source, uint16_t sourceNr,volatile uint8_t *target, uint16_t targetNr) { if(*(source+(sourceNr/8))&(1<<(sourceNr-((sourceNr/8)*8)))) { *(target+(targetNr/8))|=(1<<(targetNr-((targetNr/8)*8))); } else *(target+(targetNr/8))&=~(1<<(targetNr-((targetNr/8)*8))); } void modbusReset(void) { BusState=(1<<TimerActive); //stop receiving (error) modbusTimer=0; } void modbusTickTimer(void) { if (BusState&(1<<TimerActive)) { modbusTimer++; if (BusState&(1<<Receiving)) //we are in receiving mode { if ((modbusTimer==modbusInterCharTimeout)) { BusState|=(1<<GapDetected); } else if ((modbusTimer==modbusInterFrameDelayReceiveEnd)) { //end of message #if ADDRESS_MODE == MULTIPLE_ADR if (crc16(rxbuffer,DataPos-3)) { //perform crc check only. This is for multiple/all address mode. BusState=(1<<ReceiveCompleted); } else modbusReset(); #endif #if ADDRESS_MODE == SINGLE_ADR if (rxbuffer[0]==Address && crc16(rxbuffer,DataPos-3)) { //is the message for us? => perform crc check BusState=(1<<ReceiveCompleted); } else modbusReset(); #endif } } else if (modbusTimer==modbusInterFrameDelayReceiveStart) BusState|=(1<<BusTimedOut); } } ISR(UART_RECEIVE_INTERRUPT) { unsigned char data; data = UART_DATA; modbusTimer=0; //reset timer if (!(BusState & (1<<ReceiveCompleted)) && !(BusState & (1<<TransmitRequested)) && !(BusState & (1<<Transmitting)) && (BusState & (1<<Receiving)) && !(BusState & (1<<BusTimedOut))) { // // if (DataPos>MaxFrameIndex) modbusReset(); else { rxbuffer[DataPos]=data; DataPos++; //TODO: maybe prevent this from exceeding 255? } } else if (!(BusState & (1<<ReceiveCompleted)) && !(BusState & (1<<TransmitRequested)) && !(BusState & (1<<Transmitting)) && !(BusState & (1<<Receiving)) && (BusState & (1<<BusTimedOut))) { //) { rxbuffer[0]=data; BusState=((1<<Receiving)|(1<<TimerActive)); DataPos=1; } PORTC |= (1 << 4); } ISR(UART_TRANSMIT_INTERRUPT) { BusState&=~(1<<TransmitRequested); BusState|=(1<<Transmitting); UART_DATA=rxbuffer[DataPos]; DataPos++; if (DataPos==(PacketTopIndex+1)) { UART_CONTROL&=~(1<<UART_UDRIE); } PORTC &= ~(1 << 4); } ISR(UART_TRANSMIT_COMPLETE_INTERRUPT) { //Sobald Stopbit übertragen wurde RS485-Transceiver wieder auf empfangen umstellen #if PHYSICAL_TYPE == 485 transceiver_rxen(); #endif modbusReset(); } void modbusInit(void) { // UBRRH = (unsigned char)(Baud>>8); // UBRRL = (unsigned char)Baud; UBRRL = 12; UART_CONTROL = (1<<RXCIE)|(1<<RXEN)|(1<<TXEN); // USART receiver and transmitter and receive complete interrupt UART_STATUS |= (0<<U2X); //double speed mode. UCSRC = (1<<URSEL)|(3<<UCSZ0); //Frame Size //for other //UCSRC = (3<<UCSZ0); //Frame Size //for mega128 UART_CONTROL|=(1<<TXCIE); //Transmit Complete Interrupt an #if PHYSICAL_TYPE == 485 //TRANSCEIVER_ENABLE_PORT_DDR|=(1<<TRANSCEIVER_ENABLE_PIN); DDRD |= 0x10; transceiver_rxen(); #endif BusState=(1<<TimerActive); } /* @brief: Sends a response. * * Arguments: - packtop: Position of the last byte containing data. * modbusSendException is a good usage example. */ void modbusSendMessage(unsigned char packtop) { PacketTopIndex=packtop+2; //diff: +2 crc16(rxbuffer,packtop); //diff: alt: -1, neu +1 BusState|=(1<<TransmitRequested); DataPos=0; #if PHYSICAL_TYPE == 485 transceiver_txen(); #endif UART_CONTROL|=(1<<UART_UDRIE); BusState&=~(1<<ReceiveCompleted); } void modbusSendException(unsigned char exceptionCode) { rxbuffer[1]|=(1<<7); //setting MSB of the function code (the exception flag) rxbuffer[2]=exceptionCode; //Exceptioncode. Also the last byte containing data modbusSendMessage(2); } uint16_t modbusRequestedAmount(void) { return (rxbuffer[5]|(rxbuffer[4]<<8)); } uint16_t modbusRequestedAddress(void) { return (rxbuffer[3]|(rxbuffer[2]<<8)); } /* @brief: copies a single or multiple bytes from one array of bytes to an array of 16-bit-words * * */ void intToModbusRegister(volatile uint16_t *inreg, volatile uint8_t *outreg, uint8_t amount) { for (uint8_t c=0; c<amount; c++) { *(outreg+c*2) = (uint8_t)(*(inreg+c) >> 8); *(outreg+1+c*2) = (uint8_t)(*(inreg+c)); } } /* @brief: copies a single or multiple 16-bit-words from one array of integers to an array of bytes * * */ void modbusRegisterToInt(volatile uint8_t *inreg, volatile uint16_t *outreg, uint8_t amount) { for (uint8_t c=0; c<amount; c++) { *(outreg+c) = (*(inreg+c*2) << 8) + *(inreg+1+c*2); } } /* @brief: Handles single/multiple register reading and single/multiple register writing. * * Arguments: - ptrToInArray: pointer to the user's data array containing registers * - startAddress: address of the first register in the supplied array * - size: input array size in the requested format (16bit-registers) * */ uint8_t mod