[5] | 1 | /* |
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| 2 | * Copyright © 2001-2008 Stéphane Raimbault <stephane.raimbault@gmail.com> |
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| 3 | * |
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| 4 | * This program is free software: you can redistribute it and/or modify |
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| 5 | * it under the terms of the GNU Lesser Public License as published by |
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| 6 | * the Free Software Foundation; either version 3 of the License, or |
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| 7 | * (at your option) any later version. |
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| 8 | * |
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| 9 | * This program is distributed in the hope that it will be useful, |
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| 10 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 11 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 12 | * GNU Lesser Public License for more details. |
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| 13 | * |
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| 14 | * You should have received a copy of the GNU Lesser Public License |
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| 15 | * along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 16 | */ |
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| 17 | |
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| 18 | /* |
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| 19 | The library is designed to send and receive data from a device that |
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| 20 | communicate via the Modbus protocol. |
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| 21 | |
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| 22 | The function names used are inspired by the Modicon Modbus Protocol |
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| 23 | Reference Guide which can be obtained from Schneider at |
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| 24 | www.schneiderautomation.com. |
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| 25 | |
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| 26 | Documentation: |
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| 27 | http://www.easysw.com/~mike/serial/serial.html |
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| 28 | http://copyleft.free.fr/wordpress/index.php/libmodbus/ |
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| 29 | */ |
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| 30 | |
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| 31 | #include <stdio.h> |
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| 32 | #include <string.h> |
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| 33 | #include <stdlib.h> |
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| 34 | #include <stdint.h> |
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| 35 | #include <termios.h> |
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| 36 | #include <sys/time.h> |
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| 37 | #include <unistd.h> |
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| 38 | #include <errno.h> |
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| 39 | #include <limits.h> |
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| 40 | #include <fcntl.h> |
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| 41 | |
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| 42 | /* TCP */ |
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| 43 | #include <sys/types.h> |
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| 44 | #include <sys/socket.h> |
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| 45 | #include <sys/ioctl.h> |
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| 46 | #include <netinet/in.h> |
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| 47 | #include <netinet/ip.h> |
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| 48 | #include <netinet/tcp.h> |
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| 49 | #include <arpa/inet.h> |
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| 50 | |
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| 51 | #include "modbus.h" |
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| 52 | |
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| 53 | #define UNKNOWN_ERROR_MSG "Not defined in modbus specification" |
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| 54 | |
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| 55 | /* This structure reduces the number of params in functions and so |
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| 56 | * optimizes the speed of execution (~ 37%). */ |
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| 57 | typedef struct { |
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| 58 | int slave; |
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| 59 | int function; |
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| 60 | int t_id; |
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| 61 | } sft_t; |
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| 62 | |
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| 63 | static const uint8_t NB_TAB_ERROR_MSG = 12; |
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| 64 | static const char *TAB_ERROR_MSG[] = { |
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| 65 | /* 0x00 */ UNKNOWN_ERROR_MSG, |
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| 66 | /* 0x01 */ "Illegal function code", |
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| 67 | /* 0x02 */ "Illegal data address", |
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| 68 | /* 0x03 */ "Illegal data value", |
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| 69 | /* 0x04 */ "Slave device or server failure", |
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| 70 | /* 0x05 */ "Acknowledge", |
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| 71 | /* 0x06 */ "Slave device or server busy", |
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| 72 | /* 0x07 */ "Negative acknowledge", |
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| 73 | /* 0x08 */ "Memory parity error", |
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| 74 | /* 0x09 */ UNKNOWN_ERROR_MSG, |
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| 75 | /* 0x0A */ "Gateway path unavailable", |
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| 76 | /* 0x0B */ "Target device failed to respond" |
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| 77 | }; |
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| 78 | |
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| 79 | /* Table of CRC values for high-order byte */ |
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| 80 | static uint8_t table_crc_hi[] = { |
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| 81 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, |
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| 82 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, |
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| 83 | 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, |
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| 84 | 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, |
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| 85 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, |
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| 86 | 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, |
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| 87 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, |
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| 88 | 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, |
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| 89 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, |
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| 90 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, |
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| 91 | 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, |
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| 92 | 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, |
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| 93 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, |
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| 94 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, |
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| 95 | 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, |
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| 96 | 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, |
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| 97 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, |
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| 98 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, |
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| 99 | 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, |
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| 100 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, |
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| 101 | 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, |
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| 102 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, |
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| 103 | 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, |
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| 104 | 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, |
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| 105 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, |
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| 106 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 |
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| 107 | }; |
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| 108 | |
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| 109 | /* Table of CRC values for low-order byte */ |
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| 110 | static uint8_t table_crc_lo[] = { |
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| 111 | 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, |
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| 112 | 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, |
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| 113 | 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, |
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| 114 | 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, |
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| 115 | 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, |
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| 116 | 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, |
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| 117 | 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, |
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| 118 | 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, |
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| 119 | 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, |
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| 120 | 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, |
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| 121 | 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, |
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| 122 | 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, |
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| 123 | 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, |
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| 124 | 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, |
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| 125 | 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, |
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| 126 | 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, |
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| 127 | 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, |
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| 128 | 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, |
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| 129 | 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, |
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| 130 | 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, |
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| 131 | 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, |
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| 132 | 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, |
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| 133 | 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, |
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| 134 | 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, |
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| 135 | 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, |
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| 136 | 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 |
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| 137 | }; |
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| 138 | |
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| 139 | /* Treats errors and flush or close connection if necessary */ |
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| 140 | static void error_treat(modbus_param_t *mb_param, int code, const char *string) |
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| 141 | { |
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| 142 | printf("\nERROR %s (%d)\n", string, code); |
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| 143 | |
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| 144 | if (mb_param->error_handling == FLUSH_OR_RECONNECT_ON_ERROR) { |
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| 145 | switch (code) { |
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| 146 | case ILLEGAL_DATA_VALUE: |
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| 147 | case ILLEGAL_DATA_ADDRESS: |
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| 148 | case ILLEGAL_FUNCTION: |
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| 149 | break; |
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| 150 | default: |
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| 151 | if (mb_param->type_com == RTU) { |
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| 152 | tcflush(mb_param->fd, TCIOFLUSH); |
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| 153 | } else { |
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| 154 | modbus_close(mb_param); |
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| 155 | modbus_connect(mb_param); |
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| 156 | } |
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| 157 | } |
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| 158 | } |
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| 159 | } |
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| 160 | |
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| 161 | /* Computes the length of the expected response */ |
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| 162 | static unsigned int compute_response_length(modbus_param_t *mb_param, |
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| 163 | uint8_t *query) |
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| 164 | { |
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| 165 | int resp_length; |
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| 166 | int offset; |
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| 167 | |
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| 168 | offset = mb_param->header_length; |
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| 169 | |
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| 170 | switch (query[offset + 1]) { |
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| 171 | case FC_READ_COIL_STATUS: |
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| 172 | case FC_READ_INPUT_STATUS: { |
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| 173 | /* Header + nb values (code from force_multiple_coils) */ |
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| 174 | int nb = (query[offset + 4] << 8) | query[offset + 5]; |
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| 175 | resp_length = 3 + (nb / 8) + ((nb % 8) ? 1 : 0); |
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| 176 | } |
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| 177 | break; |
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| 178 | case FC_READ_HOLDING_REGISTERS: |
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| 179 | case FC_READ_INPUT_REGISTERS: |
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| 180 | /* Header + 2 * nb values */ |
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| 181 | resp_length = 3 + 2 * (query[offset + 4] << 8 | |
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| 182 | query[offset + 5]); |
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| 183 | break; |
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| 184 | case FC_READ_EXCEPTION_STATUS: |
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| 185 | resp_length = 4; |
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| 186 | break; |
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| 187 | default: |
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| 188 | resp_length = 6; |
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| 189 | } |
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| 190 | |
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| 191 | resp_length += offset + mb_param->checksum_length; |
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| 192 | |
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| 193 | return resp_length; |
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| 194 | } |
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| 195 | |
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| 196 | /* Builds a RTU query header */ |
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| 197 | static int build_query_basis_rtu(int slave, int function, |
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| 198 | int start_addr, int nb, |
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| 199 | uint8_t *query) |
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| 200 | { |
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| 201 | query[0] = slave; |
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| 202 | query[1] = function; |
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| 203 | query[2] = start_addr >> 8; |
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| 204 | query[3] = start_addr & 0x00ff; |
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| 205 | query[4] = nb >> 8; |
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| 206 | query[5] = nb & 0x00ff; |
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| 207 | |
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| 208 | return PRESET_QUERY_LENGTH_RTU; |
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| 209 | } |
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| 210 | |
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| 211 | /* Builds a TCP query header */ |
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| 212 | static int build_query_basis_tcp(int slave, int function, |
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| 213 | int start_addr, int nb, |
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| 214 | uint8_t *query) |
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| 215 | { |
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| 216 | |
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| 217 | /* Extract from MODBUS Messaging on TCP/IP Implementation |
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| 218 | Guide V1.0b (page 23/46): |
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| 219 | The transaction identifier is used to associate the future |
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| 220 | response with the request. So, at a time, on a TCP |
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| 221 | connection, this identifier must be unique. |
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| 222 | */ |
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| 223 | static uint16_t t_id = 0; |
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| 224 | |
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| 225 | /* Transaction ID */ |
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| 226 | if (t_id < UINT16_MAX) |
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| 227 | t_id++; |
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| 228 | else |
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| 229 | t_id = 0; |
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| 230 | query[0] = t_id >> 8; |
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| 231 | query[1] = t_id & 0x00ff; |
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| 232 | |
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| 233 | /* Protocol Modbus */ |
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| 234 | query[2] = 0; |
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| 235 | query[3] = 0; |
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| 236 | |
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| 237 | /* Length to fix later with set_query_length_tcp (4 and 5) */ |
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| 238 | |
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| 239 | query[6] = slave; |
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| 240 | query[7] = function; |
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| 241 | query[8] = start_addr >> 8; |
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| 242 | query[9] = start_addr & 0x00ff; |
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| 243 | query[10] = nb >> 8; |
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| 244 | query[11] = nb & 0x00ff; |
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| 245 | |
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| 246 | return PRESET_QUERY_LENGTH_TCP; |
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| 247 | } |
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| 248 | |
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| 249 | static int build_query_basis(modbus_param_t *mb_param, int slave, |
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| 250 | int function, int start_addr, |
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| 251 | int nb, uint8_t *query) |
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| 252 | { |
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| 253 | if (mb_param->type_com == RTU) |
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| 254 | return build_query_basis_rtu(slave, function, start_addr, |
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| 255 | nb, query); |
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| 256 | else |
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| 257 | return build_query_basis_tcp(slave, function, start_addr, |
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| 258 | nb, query); |
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| 259 | } |
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| 260 | |
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| 261 | /* Builds a RTU response header */ |
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| 262 | static int build_response_basis_rtu(sft_t *sft, uint8_t *response) |
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| 263 | { |
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| 264 | response[0] = sft->slave; |
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| 265 | response[1] = sft->function; |
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| 266 | |
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| 267 | return PRESET_RESPONSE_LENGTH_RTU; |
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| 268 | } |
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| 269 | |
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| 270 | /* Builds a TCP response header */ |
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| 271 | static int build_response_basis_tcp(sft_t *sft, uint8_t *response) |
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| 272 | { |
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| 273 | /* Extract from MODBUS Messaging on TCP/IP Implementation |
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| 274 | Guide V1.0b (page 23/46): |
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| 275 | The transaction identifier is used to associate the future |
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| 276 | response with the request. */ |
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| 277 | response[0] = sft->t_id >> 8; |
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| 278 | response[1] = sft->t_id & 0x00ff; |
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| 279 | |
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| 280 | /* Protocol Modbus */ |
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| 281 | response[2] = 0; |
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| 282 | response[3] = 0; |
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| 283 | |
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| 284 | /* Length to fix later with set_message_length_tcp (4 and 5) */ |
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| 285 | |
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| 286 | response[6] = sft->slave; |
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| 287 | response[7] = sft->function; |
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| 288 | |
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| 289 | return PRESET_RESPONSE_LENGTH_TCP; |
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| 290 | } |
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| 291 | |
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| 292 | static int build_response_basis(modbus_param_t *mb_param, sft_t *sft, |
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| 293 | uint8_t *response) |
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| 294 | { |
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| 295 | if (mb_param->type_com == RTU) |
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| 296 | return build_response_basis_rtu(sft, response); |
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| 297 | else |
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| 298 | return build_response_basis_tcp(sft, response); |
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| 299 | } |
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| 300 | |
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| 301 | /* Sets the length of TCP message in the message (query and response) */ |
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| 302 | void set_message_length_tcp(uint8_t *msg, int msg_length) |
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| 303 | { |
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| 304 | /* Substract the header length to the message length */ |
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| 305 | int mbap_length = msg_length - 6; |
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| 306 | |
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| 307 | msg[4] = mbap_length >> 8; |
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| 308 | msg[5] = mbap_length & 0x00FF; |
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| 309 | } |
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| 310 | |
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| 311 | /* Fast CRC */ |
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| 312 | static uint16_t crc16(uint8_t *buffer, uint16_t buffer_length) |
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| 313 | { |
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| 314 | uint8_t crc_hi = 0xFF; /* high CRC byte initialized */ |
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| 315 | uint8_t crc_lo = 0xFF; /* low CRC byte initialized */ |
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| 316 | unsigned int i; /* will index into CRC lookup */ |
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| 317 | |
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| 318 | /* pass through message buffer */ |
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| 319 | while (buffer_length--) { |
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| 320 | i = crc_hi ^ *buffer++; /* calculate the CRC */ |
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| 321 | crc_hi = crc_lo ^ table_crc_hi[i]; |
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| 322 | crc_lo = table_crc_lo[i]; |
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| 323 | } |
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| 324 | |
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| 325 | return (crc_hi << 8 | crc_lo); |
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| 326 | } |
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| 327 | |
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| 328 | /* If CRC is correct returns 0 else returns INVALID_CRC */ |
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| 329 | static int check_crc16(modbus_param_t *mb_param, |
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| 330 | uint8_t *msg, |
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| 331 | const int msg_length) |
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| 332 | { |
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| 333 | int ret; |
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| 334 | uint16_t crc_calc; |
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| 335 | uint16_t crc_received; |
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| 336 | |
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| 337 | crc_calc = crc16(msg, msg_length - 2); |
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| 338 | crc_received = (msg[msg_length - 2] << 8) | msg[msg_length - 1]; |
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| 339 | |
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| 340 | /* Check CRC of msg */ |
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| 341 | if (crc_calc == crc_received) { |
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| 342 | ret = 0; |
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| 343 | } else { |
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| 344 | char s_error[64]; |
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| 345 | sprintf(s_error, |
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| 346 | "invalid crc received %0X - crc_calc %0X", |
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| 347 | crc_received, crc_calc); |
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| 348 | ret = INVALID_CRC; |
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| 349 | error_treat(mb_param, ret, s_error); |
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| 350 | } |
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| 351 | |
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| 352 | return ret; |
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| 353 | } |
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| 354 | |
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| 355 | /* Sends a query/response over a serial or a TCP communication */ |
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| 356 | static int modbus_send(modbus_param_t *mb_param, uint8_t *query, |
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| 357 | int query_length) |
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| 358 | { |
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| 359 | int ret; |
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| 360 | uint16_t s_crc; |
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| 361 | int i; |
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| 362 | |
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| 363 | if (mb_param->type_com == RTU) { |
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| 364 | s_crc = crc16(query, query_length); |
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| 365 | query[query_length++] = s_crc >> 8; |
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| 366 | query[query_length++] = s_crc & 0x00FF; |
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| 367 | } else { |
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| 368 | set_message_length_tcp(query, query_length); |
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| 369 | } |
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| 370 | |
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| 371 | if (mb_param->debug) { |
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| 372 | for (i = 0; i < query_length; i++) |
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| 373 | printf("[%.2X]", query[i]); |
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| 374 | printf("\n"); |
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| 375 | } |
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| 376 | |
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| 377 | if (mb_param->saveRawData) |
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| 378 | { |
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| 379 | for (i = 0; i < query_length; i++) |
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| 380 | mb_param->rawQuery[i]=query[i]; |
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| 381 | mb_param->rawQueryLength=query_length; |
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| 382 | } |
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| 383 | |
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| 384 | if (mb_param->type_com == RTU) |
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| 385 | ret = write(mb_param->fd, query, query_length); |
---|
| 386 | else |
---|
| 387 | ret = send(mb_param->fd, query, query_length, 0); |
---|
| 388 | |
---|
| 389 | /* Return the number of bytes written (0 to n) |
---|
| 390 | or PORT_SOCKET_FAILURE on error */ |
---|
| 391 | if ((ret == -1) || (ret != query_length)) { |
---|
| 392 | ret = PORT_SOCKET_FAILURE; |
---|
| 393 | error_treat(mb_param, ret, "Write port/socket failure"); |
---|
| 394 | } |
---|
| 395 | |
---|
| 396 | return ret; |
---|
| 397 | } |
---|
| 398 | |
---|
| 399 | /* Computes the length of the header following the function code */ |
---|
| 400 | static uint8_t compute_query_length_header(int function) |
---|
| 401 | { |
---|
| 402 | int length; |
---|
| 403 | |
---|
| 404 | if (function <= FC_FORCE_SINGLE_COIL || |
---|
| 405 | function == FC_PRESET_SINGLE_REGISTER) |
---|
| 406 | /* Read and single write */ |
---|
| 407 | length = 4; |
---|
| 408 | else if (function == FC_FORCE_MULTIPLE_COILS || |
---|
| 409 | function == FC_PRESET_MULTIPLE_REGISTERS) |
---|
| 410 | /* Multiple write */ |
---|
| 411 | length = 5; |
---|
| 412 | else |
---|
| 413 | length = 0; |
---|
| 414 | |
---|
| 415 | return length; |
---|
| 416 | } |
---|
| 417 | |
---|
| 418 | /* Computes the length of the data to write in the query */ |
---|
| 419 | static int compute_query_length_data(modbus_param_t *mb_param, uint8_t *msg) |
---|
| 420 | { |
---|
| 421 | int function = msg[mb_param->header_length + 1]; |
---|
| 422 | int length; |
---|
| 423 | |
---|
| 424 | if (function == FC_FORCE_MULTIPLE_COILS || |
---|
| 425 | function == FC_PRESET_MULTIPLE_REGISTERS) |
---|
| 426 | length = msg[mb_param->header_length + 6]; |
---|
| 427 | else |
---|
| 428 | length = 0; |
---|
| 429 | |
---|
| 430 | length += mb_param->checksum_length; |
---|
| 431 | |
---|
| 432 | return length; |
---|
| 433 | } |
---|
| 434 | |
---|
| 435 | #define WAIT_DATA() \ |
---|
| 436 | { \ |
---|
| 437 | while ((select_ret = select(mb_param->fd+1, &rfds, NULL, NULL, &tv)) == -1) { \ |
---|
| 438 | if (errno == EINTR) { \ |
---|
| 439 | printf("A non blocked signal was caught\n"); \ |
---|
| 440 | /* Necessary after an error */ \ |
---|
| 441 | FD_ZERO(&rfds); \ |
---|
| 442 | FD_SET(mb_param->fd, &rfds); \ |
---|
| 443 | } else { \ |
---|
| 444 | error_treat(mb_param, SELECT_FAILURE, "Select failure"); \ |
---|
| 445 | return SELECT_FAILURE; \ |
---|
| 446 | } \ |
---|
| 447 | } \ |
---|
| 448 | \ |
---|
| 449 | if (select_ret == 0) { \ |
---|
| 450 | /* Call to error_treat is done later to manage exceptions */ \ |
---|
| 451 | return COMM_TIME_OUT; \ |
---|
| 452 | } \ |
---|
| 453 | } |
---|
| 454 | |
---|
| 455 | /* Waits a reply from a modbus slave or a query from a modbus master. |
---|
| 456 | This function blocks for timeout seconds if there is no reply. |
---|
| 457 | |
---|
| 458 | In |
---|
| 459 | - msg_length_computed must be set to MSG_LENGTH_UNDEFINED if undefined |
---|
| 460 | |
---|
| 461 | Out |
---|
| 462 | - msg is an array of uint8_t to receive the message |
---|
| 463 | - p_msg_length, the variable is assigned to the number of |
---|
| 464 | characters received. This value won't be greater than |
---|
| 465 | msg_length_computed. |
---|
| 466 | |
---|
| 467 | Returns 0 in success or a negative value if an error occured. |
---|
| 468 | */ |
---|
| 469 | static int receive_msg(modbus_param_t *mb_param, |
---|
| 470 | int msg_length_computed, |
---|
| 471 | uint8_t *msg, int *p_msg_length) |
---|
| 472 | { |
---|
| 473 | int select_ret; |
---|
| 474 | int read_ret; |
---|
| 475 | fd_set rfds; |
---|
| 476 | struct timeval tv; |
---|
| 477 | int length_to_read; |
---|
| 478 | uint8_t *p_msg; |
---|
| 479 | enum { FUNCTION, BYTE, COMPLETE }; |
---|
| 480 | int state; |
---|
| 481 | |
---|
| 482 | if (mb_param->debug) { |
---|
| 483 | if (msg_length_computed == MSG_LENGTH_UNDEFINED) |
---|
| 484 | printf("Waiting for a message...\n"); |
---|
| 485 | else |
---|
| 486 | printf("Waiting for a message (%d bytes)...\n", |
---|
| 487 | msg_length_computed); |
---|
| 488 | } |
---|
| 489 | |
---|
| 490 | /* Add a file descriptor to the set */ |
---|
| 491 | FD_ZERO(&rfds); |
---|
| 492 | FD_SET(mb_param->fd, &rfds); |
---|
| 493 | |
---|
| 494 | if (msg_length_computed == MSG_LENGTH_UNDEFINED) { |
---|
| 495 | /* Wait for a message */ |
---|
| 496 | tv.tv_sec = 60; |
---|
| 497 | tv.tv_usec = 0; |
---|
| 498 | |
---|
| 499 | /* The message length is undefined (query receiving) so |
---|
| 500 | * we need to analyse the message step by step. |
---|
| 501 | * At the first step, we want to reach the function |
---|
| 502 | * code because all packets have that information. */ |
---|
| 503 | msg_length_computed = mb_param->header_length + 2; |
---|
| 504 | state = FUNCTION; |
---|
| 505 | } else { |
---|
| 506 | tv.tv_sec = 0; |
---|
| 507 | tv.tv_usec = TIME_OUT_BEGIN_OF_TRAME; |
---|
| 508 | state = COMPLETE; |
---|
| 509 | } |
---|
| 510 | |
---|
| 511 | length_to_read = msg_length_computed; |
---|
| 512 | |
---|
| 513 | select_ret = 0; |
---|
| 514 | WAIT_DATA(); |
---|
| 515 | |
---|
| 516 | /* Initialize the readin the message */ |
---|
| 517 | (*p_msg_length) = 0; |
---|
| 518 | p_msg = msg; |
---|
| 519 | |
---|
| 520 | while (select_ret) { |
---|
| 521 | if (mb_param->type_com == RTU) |
---|
| 522 | read_ret = read(mb_param->fd, p_msg, length_to_read); |
---|
| 523 | else |
---|
| 524 | read_ret = recv(mb_param->fd, p_msg, length_to_read, 0); |
---|
| 525 | |
---|
| 526 | if (read_ret == 0) { |
---|
| 527 | printf("Connection closed\n"); |
---|
| 528 | return CONNECTION_CLOSED; |
---|
| 529 | } else if (read_ret < 0) { |
---|
| 530 | /* The only negative possible value is -1 */ |
---|
| 531 | error_treat(mb_param, PORT_SOCKET_FAILURE, |
---|
| 532 | "Read port/socket failure"); |
---|
| 533 | return PORT_SOCKET_FAILURE; |
---|
| 534 | } |
---|
| 535 | |
---|
| 536 | /* Sums bytes received */ |
---|
| 537 | (*p_msg_length) += read_ret; |
---|
| 538 | |
---|
| 539 | /* Display the hex code of each character received */ |
---|
| 540 | if (mb_param->debug) { |
---|
| 541 | int i; |
---|
| 542 | for (i=0; i < read_ret; i++) |
---|
| 543 | printf("<%.2X>", p_msg[i]); |
---|
| 544 | } |
---|
| 545 | |
---|
| 546 | if ((*p_msg_length) < msg_length_computed) { |
---|
| 547 | /* Message incomplete */ |
---|
| 548 | length_to_read = msg_length_computed - (*p_msg_length); |
---|
| 549 | } else { |
---|
| 550 | switch (state) { |
---|
| 551 | case FUNCTION: |
---|
| 552 | /* Function code position */ |
---|
| 553 | length_to_read = compute_query_length_header(msg[mb_param->header_length + 1]); |
---|
| 554 | msg_length_computed += length_to_read; |
---|
| 555 | /* It's useless to check |
---|
| 556 | p_msg_length_computed value in this |
---|
| 557 | case (only defined values are used). */ |
---|
| 558 | state = BYTE; |
---|
| 559 | break; |
---|
| 560 | case BYTE: |
---|
| 561 | length_to_read = compute_query_length_data(mb_param, msg); |
---|
| 562 | msg_length_computed += length_to_read; |
---|
| 563 | if (msg_length_computed > MAX_MESSAGE_LENGTH) { |
---|
| 564 | error_treat(mb_param, TOO_MANY_DATA, "Too many data"); |
---|
| 565 | return TOO_MANY_DATA; |
---|
| 566 | } |
---|
| 567 | state = COMPLETE; |
---|
| 568 | break; |
---|
| 569 | case COMPLETE: |
---|
| 570 | length_to_read = 0; |
---|
| 571 | break; |
---|
| 572 | } |
---|
| 573 | } |
---|
| 574 | |
---|
| 575 | /* Moves the pointer to receive other data */ |
---|
| 576 | p_msg = &(p_msg[read_ret]); |
---|
| 577 | |
---|
| 578 | if (length_to_read > 0) { |
---|
| 579 | /* If no character at the buffer wait |
---|
| 580 | TIME_OUT_END_OF_TRAME before to generate an error. */ |
---|
| 581 | tv.tv_sec = 0; |
---|
| 582 | tv.tv_usec = TIME_OUT_END_OF_TRAME; |
---|
| 583 | |
---|
| 584 | WAIT_DATA(); |
---|
| 585 | } else { |
---|
| 586 | /* All chars are received */ |
---|
| 587 | select_ret = FALSE; |
---|
| 588 | } |
---|
| 589 | } |
---|
| 590 | |
---|
| 591 | if (mb_param->debug) |
---|
| 592 | printf("\n"); |
---|
| 593 | |
---|
| 594 | if (mb_param->type_com == RTU) { |
---|
| 595 | check_crc16(mb_param, msg, (*p_msg_length)); |
---|
| 596 | } |
---|
| 597 | |
---|
| 598 | /* OK */ |
---|
| 599 | return 0; |
---|
| 600 | } |
---|
| 601 | |
---|
| 602 | |
---|
| 603 | /* Receives the response and checks values (and checksum in RTU). |
---|
| 604 | |
---|
| 605 | Returns: |
---|
| 606 | - the number of values (bits or word) if success or the response |
---|
| 607 | length if no value is returned |
---|
| 608 | - less than 0 for exception errors |
---|
| 609 | |
---|
| 610 | Note: all functions used to send or receive data with modbus return |
---|
| 611 | these values. */ |
---|
| 612 | static int modbus_receive(modbus_param_t *mb_param, |
---|
| 613 | uint8_t *query, |
---|
| 614 | uint8_t *response) |
---|
| 615 | { |
---|
| 616 | int ret, i; |
---|
| 617 | int response_length; |
---|
| 618 | int response_length_computed; |
---|
| 619 | int offset = mb_param->header_length; |
---|
| 620 | |
---|
| 621 | response_length_computed = compute_response_length(mb_param, query); |
---|
| 622 | ret = receive_msg(mb_param, response_length_computed, |
---|
| 623 | response, &response_length); |
---|
| 624 | if (ret == 0) { |
---|
| 625 | /* GOOD RESPONSE */ |
---|
| 626 | int query_nb_value; |
---|
| 627 | int response_nb_value; |
---|
| 628 | |
---|
| 629 | /* The number of values is returned if it's corresponding |
---|
| 630 | * to the query */ |
---|
| 631 | switch (response[offset + 1]) { |
---|
| 632 | case FC_READ_COIL_STATUS: |
---|
| 633 | case FC_READ_INPUT_STATUS: |
---|
| 634 | /* Read functions, 8 values in a byte (nb |
---|
| 635 | * of values in the query and byte count in |
---|
| 636 | * the response. */ |
---|
| 637 | query_nb_value = (query[offset+4] << 8) + query[offset+5]; |
---|
| 638 | query_nb_value = (query_nb_value / 8) + ((query_nb_value % 8) ? 1 : 0); |
---|
| 639 | response_nb_value = response[offset + 2]; |
---|
| 640 | break; |
---|
| 641 | case FC_READ_HOLDING_REGISTERS: |
---|
| 642 | case FC_READ_INPUT_REGISTERS: |
---|
| 643 | /* Read functions 1 value = 2 bytes */ |
---|
| 644 | query_nb_value = (query[offset+4] << 8) + query[offset+5]; |
---|
| 645 | response_nb_value = (response[offset + 2] / 2); |
---|
| 646 | break; |
---|
| 647 | case FC_FORCE_MULTIPLE_COILS: |
---|
| 648 | case FC_PRESET_MULTIPLE_REGISTERS: |
---|
| 649 | /* N Write functions */ |
---|
| 650 | query_nb_value = (query[offset+4] << 8) + query[offset+5]; |
---|
| 651 | response_nb_value = (response[offset + 4] << 8) | response[offset + 5]; |
---|
| 652 | break; |
---|
| 653 | case FC_REPORT_SLAVE_ID: |
---|
| 654 | /* Report slave ID (bytes received) */ |
---|
| 655 | query_nb_value = response_nb_value = response_length; |
---|
| 656 | break; |
---|
| 657 | default: |
---|
| 658 | /* 1 Write functions & others */ |
---|
| 659 | query_nb_value = response_nb_value = 1; |
---|
| 660 | } |
---|
| 661 | |
---|
| 662 | if (query_nb_value == response_nb_value) |
---|
| 663 | { |
---|
| 664 | ret = response_nb_value; |
---|
| 665 | if (mb_param->saveRawData) |
---|
| 666 | { |
---|
| 667 | for (i = 0; i < response_length_computed; i++) |
---|
| 668 | mb_param->rawResponse[i]=response[i]; |
---|
| 669 | mb_param->rawResponseLength=response_length_computed; |
---|
| 670 | } |
---|
| 671 | |
---|
| 672 | } else { |
---|
| 673 | char *s_error = malloc(64 * sizeof(char)); |
---|
| 674 | sprintf(s_error, "Quantity (%d) not corresponding to the query (%d)", |
---|
| 675 | response_nb_value, query_nb_value); |
---|
| 676 | ret = ILLEGAL_DATA_VALUE; |
---|
| 677 | error_treat(mb_param, ILLEGAL_DATA_VALUE, s_error); |
---|
| 678 | free(s_error); |
---|
| 679 | } |
---|
| 680 | } else if (ret == COMM_TIME_OUT) { |
---|
| 681 | |
---|
| 682 | if (response_length == (offset + 3 + mb_param->checksum_length)) { |
---|
| 683 | /* EXCEPTION CODE RECEIVED */ |
---|
| 684 | |
---|
| 685 | /* Optimization allowed because exception response is |
---|
| 686 | the smallest trame in modbus protocol (3) so always |
---|
| 687 | raise a timeout error */ |
---|
| 688 | |
---|
| 689 | /* CRC must be checked here (not done in receive_msg) */ |
---|
| 690 | if (mb_param->type_com == RTU) { |
---|
| 691 | ret = check_crc16(mb_param, response, response_length); |
---|
| 692 | if (ret != 0) |
---|
| 693 | return ret; |
---|
| 694 | } |
---|
| 695 | |
---|
| 696 | /* Check for exception response. |
---|
| 697 | 0x80 + function is stored in the exception |
---|
| 698 | response. */ |
---|
| 699 | if (0x80 + query[offset + 1] == response[offset + 1]) { |
---|
| 700 | |
---|
| 701 | int exception_code = response[offset + 2]; |
---|
| 702 | // FIXME check test |
---|
| 703 | if (exception_code < NB_TAB_ERROR_MSG) { |
---|
| 704 | error_treat(mb_param, -exception_code, |
---|
| 705 | TAB_ERROR_MSG[response[offset + 2]]); |
---|
| 706 | /* RETURN THE EXCEPTION CODE */ |
---|
| 707 | /* Modbus error code is negative */ |
---|
| 708 | return -exception_code; |
---|
| 709 | } else { |
---|
| 710 | /* The chances are low to hit this |
---|
| 711 | case but it can avoid a vicious |
---|
| 712 | segfault */ |
---|
| 713 | char *s_error = malloc(64 * sizeof(char)); |
---|
| 714 | sprintf(s_error, |
---|
| 715 | "Invalid exception code %d", |
---|
| 716 | response[offset + 2]); |
---|
| 717 | error_treat(mb_param, INVALID_EXCEPTION_CODE, |
---|
| 718 | s_error); |
---|
| 719 | free(s_error); |
---|
| 720 | return INVALID_EXCEPTION_CODE; |
---|
| 721 | } |
---|
| 722 | } |
---|
| 723 | /* If doesn't return previously, return as |
---|
| 724 | TIME OUT here */ |
---|
| 725 | } |
---|
| 726 | |
---|
| 727 | /* COMMUNICATION TIME OUT */ |
---|
| 728 | error_treat(mb_param, ret, "Communication time out"); |
---|
| 729 | return ret; |
---|
| 730 | } |
---|
| 731 | |
---|
| 732 | return ret; |
---|
| 733 | } |
---|
| 734 | |
---|
| 735 | static int response_io_status(int address, int nb, |
---|
| 736 | uint8_t *tab_io_status, |
---|
| 737 | uint8_t *response, int offset) |
---|
| 738 | { |
---|
| 739 | int shift = 0; |
---|
| 740 | int byte = 0; |
---|
| 741 | int i; |
---|
| 742 | |
---|
| 743 | for (i = address; i < address+nb; i++) { |
---|
| 744 | byte |= tab_io_status[i] << shift; |
---|
| 745 | if (shift == 7) { |
---|
| 746 | /* Byte is full */ |
---|
| 747 | response[offset++] = byte; |
---|
| 748 | byte = shift = 0; |
---|
| 749 | } else { |
---|
| 750 | shift++; |
---|
| 751 | } |
---|
| 752 | } |
---|
| 753 | |
---|
| 754 | if (shift != 0) |
---|
| 755 | response[offset++] = byte; |
---|
| 756 | |
---|
| 757 | return offset; |
---|
| 758 | } |
---|
| 759 | |
---|
| 760 | /* Build the exception response */ |
---|
| 761 | static int response_exception(modbus_param_t *mb_param, sft_t *sft, |
---|
| 762 | int exception_code, uint8_t *response) |
---|
| 763 | { |
---|
| 764 | int response_length; |
---|
| 765 | |
---|
| 766 | sft->function = sft->function + 0x80; |
---|
| 767 | response_length = build_response_basis(mb_param, sft, response); |
---|
| 768 | |
---|
| 769 | /* Positive exception code */ |
---|
| 770 | response[response_length++] = -exception_code; |
---|
| 771 | |
---|
| 772 | return response_length; |
---|
| 773 | } |
---|
| 774 | |
---|
| 775 | /* Manages the received query. |
---|
| 776 | Analyses the query and constructs a response. |
---|
| 777 | If an error occurs, this function construct the response |
---|
| 778 | accordingly. |
---|
| 779 | */ |
---|
| 780 | void modbus_manage_query(modbus_param_t *mb_param, const uint8_t *query, |
---|
| 781 | int query_length, modbus_mapping_t *mb_mapping) |
---|
| 782 | { |
---|
| 783 | int offset = mb_param->header_length; |
---|
| 784 | int slave = query[offset]; |
---|
| 785 | int function = query[offset+1]; |
---|
| 786 | uint16_t address = (query[offset+2] << 8) + query[offset+3]; |
---|
| 787 | uint8_t response[MAX_MESSAGE_LENGTH]; |
---|
| 788 | int resp_length = 0; |
---|
| 789 | sft_t sft; |
---|
| 790 | |
---|
| 791 | sft.slave = slave; |
---|
| 792 | sft.function = function; |
---|
| 793 | if (mb_param->type_com == TCP) |
---|
| 794 | sft.t_id = (query[0] << 8) + query[1]; |
---|
| 795 | else |
---|
| 796 | sft.t_id = 0; |
---|
| 797 | |
---|
| 798 | switch (function) { |
---|
| 799 | case FC_READ_COIL_STATUS: { |
---|
| 800 | int nb = (query[offset+4] << 8) + query[offset+5]; |
---|
| 801 | |
---|
| 802 | if ((address + nb) > mb_mapping->nb_coil_status) { |
---|
| 803 | printf("Illegal data address %0X in read_coil_status\n", |
---|
| 804 | address + nb); |
---|
| 805 | resp_length = response_exception(mb_param, &sft, |
---|
| 806 | ILLEGAL_DATA_ADDRESS, response); |
---|
| 807 | } else { |
---|
| 808 | resp_length = build_response_basis(mb_param, &sft, response); |
---|
| 809 | response[resp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0); |
---|
| 810 | resp_length = response_io_status(address, nb, |
---|
| 811 | mb_mapping->tab_coil_status, |
---|
| 812 | response, resp_length); |
---|
| 813 | } |
---|
| 814 | } |
---|
| 815 | break; |
---|
| 816 | case FC_READ_INPUT_STATUS: { |
---|
| 817 | /* Similar to coil status (but too much arguments to use a |
---|
| 818 | * function) */ |
---|
| 819 | int nb = (query[offset+4] << 8) + query[offset+5]; |
---|
| 820 | |
---|
| 821 | if ((address + nb) > mb_mapping->nb_input_status) { |
---|
| 822 | printf("Illegal data address %0X in read_input_status\n", |
---|
| 823 | address + nb); |
---|
| 824 | resp_length = response_exception(mb_param, &sft, |
---|
| 825 | ILLEGAL_DATA_ADDRESS, response); |
---|
| 826 | } else { |
---|
| 827 | resp_length = build_response_basis(mb_param, &sft, response); |
---|
| 828 | response[resp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0); |
---|
| 829 | resp_length = response_io_status(address, nb, |
---|
| 830 | mb_mapping->tab_input_status, |
---|
| 831 | response, resp_length); |
---|
| 832 | } |
---|
| 833 | } |
---|
| 834 | break; |
---|
| 835 | case FC_READ_HOLDING_REGISTERS: { |
---|
| 836 | int nb = (query[offset+4] << 8) + query[offset+5]; |
---|
| 837 | |
---|
| 838 | if ((address + nb) > mb_mapping->nb_holding_registers) { |
---|
| 839 | printf("Illegal data address %0X in read_holding_registers\n", |
---|
| 840 | address + nb); |
---|
| 841 | resp_length = response_exception(mb_param, &sft, |
---|
| 842 | ILLEGAL_DATA_ADDRESS, response); |
---|
| 843 | } else { |
---|
| 844 | int i; |
---|
| 845 | |
---|
| 846 | resp_length = build_response_basis(mb_param, &sft, response); |
---|
| 847 | response[resp_length++] = nb << 1; |
---|
| 848 | for (i = address; i < address + nb; i++) { |
---|
| 849 | response[resp_length++] = mb_mapping->tab_holding_registers[i] >> 8; |
---|
| 850 | response[resp_length++] = mb_mapping->tab_holding_registers[i] & 0xFF; |
---|
| 851 | } |
---|
| 852 | } |
---|
| 853 | } |
---|
| 854 | break; |
---|
| 855 | case FC_READ_INPUT_REGISTERS: { |
---|
| 856 | /* Similar to holding registers (but too much arguments to use a |
---|
| 857 | * function) */ |
---|
| 858 | int nb = (query[offset+4] << 8) + query[offset+5]; |
---|
| 859 | |
---|
| 860 | if ((address + nb) > mb_mapping->nb_input_registers) { |
---|
| 861 | printf("Illegal data address %0X in read_input_registers\n", |
---|
| 862 | address + nb); |
---|
| 863 | resp_length = response_exception(mb_param, &sft, |
---|
| 864 | ILLEGAL_DATA_ADDRESS, response); |
---|
| 865 | } else { |
---|
| 866 | int i; |
---|
| 867 | |
---|
| 868 | resp_length = build_response_basis(mb_param, &sft, response); |
---|
| 869 | response[resp_length++] = nb << 1; |
---|
| 870 | for (i = address; i < address + nb; i++) { |
---|
| 871 | response[resp_length++] = mb_mapping->tab_input_registers[i] >> 8; |
---|
| 872 | response[resp_length++] = mb_mapping->tab_input_registers[i] & 0xFF; |
---|
| 873 | } |
---|
| 874 | } |
---|
| 875 | } |
---|
| 876 | break; |
---|
| 877 | case FC_FORCE_SINGLE_COIL: |
---|
| 878 | if (address >= mb_mapping->nb_coil_status) { |
---|
| 879 | printf("Illegal data address %0X in force_singe_coil\n", address); |
---|
| 880 | resp_length = response_exception(mb_param, &sft, |
---|
| 881 | ILLEGAL_DATA_ADDRESS, response); |
---|
| 882 | } else { |
---|
| 883 | int data = (query[offset+4] << 8) + query[offset+5]; |
---|
| 884 | |
---|
| 885 | if (data == 0xFF00 || data == 0x0) { |
---|
| 886 | mb_mapping->tab_coil_status[address] = (data) ? ON : OFF; |
---|
| 887 | |
---|
| 888 | /* In RTU mode, the CRC is computed |
---|
| 889 | and added to the query by modbus_send */ |
---|
| 890 | memcpy(response, query, query_length - mb_param->checksum_length); |
---|
| 891 | resp_length = query_length; |
---|
| 892 | } else { |
---|
| 893 | printf("Illegal data value %0X in force_single_coil request at address %0X\n", |
---|
| 894 | data, address); |
---|
| 895 | resp_length = response_exception(mb_param, &sft, |
---|
| 896 | ILLEGAL_DATA_VALUE, response); |
---|
| 897 | } |
---|
| 898 | } |
---|
| 899 | break; |
---|
| 900 | case FC_PRESET_SINGLE_REGISTER: |
---|
| 901 | if (address >= mb_mapping->nb_holding_registers) { |
---|
| 902 | printf("Illegal data address %0X in preset_holding_register\n", address); |
---|
| 903 | resp_length = response_exception(mb_param, &sft, |
---|
| 904 | ILLEGAL_DATA_ADDRESS, response); |
---|
| 905 | } else { |
---|
| 906 | int data = (query[offset+4] << 8) + query[offset+5]; |
---|
| 907 | |
---|
| 908 | mb_mapping->tab_holding_registers[address] = data; |
---|
| 909 | memcpy(response, query, query_length - mb_param->checksum_length); |
---|
| 910 | resp_length = query_length; |
---|
| 911 | } |
---|
| 912 | break; |
---|
| 913 | case FC_FORCE_MULTIPLE_COILS: { |
---|
| 914 | int nb = (query[offset+4] << 8) + query[offset+5]; |
---|
| 915 | |
---|
| 916 | if ((address + nb) > mb_mapping->nb_coil_status) { |
---|
| 917 | printf("Illegal data address %0X in force_multiple_coils\n", |
---|
| 918 | address + nb); |
---|
| 919 | resp_length = response_exception(mb_param, &sft, |
---|
| 920 | ILLEGAL_DATA_ADDRESS, response); |
---|
| 921 | } else { |
---|
| 922 | /* 6 = byte count, 7 = first byte of data */ |
---|
| 923 | set_bits_from_bytes(mb_mapping->tab_coil_status, address, nb, &query[offset + 7]); |
---|
| 924 | |
---|
| 925 | resp_length = build_response_basis(mb_param, &sft, response); |
---|
| 926 | /* 4 to copy the coil address (2) and the quantity of coils */ |
---|
| 927 | memcpy(response + resp_length, query + resp_length, 4); |
---|
| 928 | resp_length += 4; |
---|
| 929 | } |
---|
| 930 | } |
---|
| 931 | break; |
---|
| 932 | case FC_PRESET_MULTIPLE_REGISTERS: { |
---|
| 933 | int nb = (query[offset+4] << 8) + query[offset+5]; |
---|
| 934 | |
---|
| 935 | if ((address + nb) > mb_mapping->nb_holding_registers) { |
---|
| 936 | printf("Illegal data address %0X in preset_multiple_registers\n", |
---|
| 937 | address + nb); |
---|
| 938 | resp_length = response_exception(mb_param, &sft, |
---|
| 939 | ILLEGAL_DATA_ADDRESS, response); |
---|
| 940 | } else { |
---|
| 941 | int i, j; |
---|
| 942 | for (i = address, j = 0; i < address + nb; i++, j += 2) { |
---|
| 943 | /* 6 = byte count, 7 and 8 = first value */ |
---|
| 944 | mb_mapping->tab_holding_registers[i] = |
---|
| 945 | (query[offset + 7 + j] << 8) + query[offset + 8 + j]; |
---|
| 946 | } |
---|
| 947 | |
---|
| 948 | resp_length = build_response_basis(mb_param, &sft, response); |
---|
| 949 | /* 4 to copy the address (2) and the no. of registers */ |
---|
| 950 | memcpy(response + resp_length, query + resp_length, 4); |
---|
| 951 | resp_length += 4; |
---|
| 952 | } |
---|
| 953 | } |
---|
| 954 | break; |
---|
| 955 | case FC_READ_EXCEPTION_STATUS: |
---|
| 956 | case FC_REPORT_SLAVE_ID: |
---|
| 957 | printf("Not implemented\n"); |
---|
| 958 | break; |
---|
| 959 | } |
---|
| 960 | |
---|
| 961 | modbus_send(mb_param, response, resp_length); |
---|
| 962 | } |
---|
| 963 | |
---|
| 964 | /* Listens any message on a socket or file descriptor. |
---|
| 965 | Returns: |
---|
| 966 | - 0 if OK, or a negative error number if the request fails |
---|
| 967 | - query, message received |
---|
| 968 | - query_length, length in bytes of the message */ |
---|
| 969 | int modbus_listen(modbus_param_t *mb_param, uint8_t *query, int *query_length) |
---|
| 970 | { |
---|
| 971 | int ret; |
---|
| 972 | |
---|
| 973 | /* The length of the query to receive isn't known. */ |
---|
| 974 | ret = receive_msg(mb_param, MSG_LENGTH_UNDEFINED, query, query_length); |
---|
| 975 | |
---|
| 976 | return ret; |
---|
| 977 | } |
---|
| 978 | |
---|
| 979 | /* Reads IO status */ |
---|
| 980 | static int read_io_status(modbus_param_t *mb_param, int slave, int function, |
---|
| 981 | int start_addr, int nb, uint8_t *data_dest) |
---|
| 982 | { |
---|
| 983 | int ret; |
---|
| 984 | int query_length; |
---|
| 985 | |
---|
| 986 | uint8_t query[MIN_QUERY_LENGTH]; |
---|
| 987 | uint8_t response[MAX_MESSAGE_LENGTH]; |
---|
| 988 | |
---|
| 989 | query_length = build_query_basis(mb_param, slave, function, |
---|
| 990 | start_addr, nb, query); |
---|
| 991 | |
---|
| 992 | ret = modbus_send(mb_param, query, query_length); |
---|
| 993 | if (ret > 0) { |
---|
| 994 | int i, temp, bit; |
---|
| 995 | int pos = 0; |
---|
| 996 | int processed = 0; |
---|
| 997 | int offset; |
---|
| 998 | int offset_length; |
---|
| 999 | |
---|
| 1000 | ret = modbus_receive(mb_param, query, response); |
---|
| 1001 | if (ret < 0) |
---|
| 1002 | return ret; |
---|
| 1003 | |
---|
| 1004 | offset = mb_param->header_length; |
---|
| 1005 | |
---|
| 1006 | offset_length = offset + ret; |
---|
| 1007 | mb_param->response_length=offset_length+2; |
---|
| 1008 | for (i = offset; i < offset_length; i++) { |
---|
| 1009 | /* Shift reg hi_byte to temp */ |
---|
| 1010 | temp = response[3 + i]; |
---|
| 1011 | |
---|
| 1012 | for (bit = 0x01; (bit & 0xff) && (processed < nb);) { |
---|
| 1013 | data_dest[pos++] = (temp & bit) ? TRUE : FALSE; |
---|
| 1014 | processed++; |
---|
| 1015 | bit = bit << 1; |
---|
| 1016 | } |
---|
| 1017 | |
---|
| 1018 | } |
---|
| 1019 | } |
---|
| 1020 | |
---|
| 1021 | return ret; |
---|
| 1022 | } |
---|
| 1023 | |
---|
| 1024 | /* Reads the boolean status of coils and sets the array elements |
---|
| 1025 | in the destination to TRUE or FALSE. */ |
---|
| 1026 | int read_coil_status(modbus_param_t *mb_param, int slave, int start_addr, |
---|
| 1027 | int nb, uint8_t *data_dest) |
---|
| 1028 | { |
---|
| 1029 | int status; |
---|
| 1030 | |
---|
| 1031 | if (nb > MAX_STATUS) { |
---|
| 1032 | printf("ERROR Too many coils status requested (%d > %d)\n", |
---|
| 1033 | nb, MAX_STATUS); |
---|
| 1034 | return TOO_MANY_DATA; |
---|
| 1035 | } |
---|
| 1036 | |
---|
| 1037 | status = read_io_status(mb_param, slave, FC_READ_COIL_STATUS, |
---|
| 1038 | start_addr, nb, data_dest); |
---|
| 1039 | |
---|
| 1040 | if (status > 0) |
---|
| 1041 | status = nb; |
---|
| 1042 | |
---|
| 1043 | return status; |
---|
| 1044 | } |
---|
| 1045 | |
---|
| 1046 | |
---|
| 1047 | /* Same as read_coil_status but reads the slaves input table */ |
---|
| 1048 | int read_input_status(modbus_param_t *mb_param, int slave, int start_addr, |
---|
| 1049 | int nb, uint8_t *data_dest) |
---|
| 1050 | { |
---|
| 1051 | int status; |
---|
| 1052 | |
---|
| 1053 | if (nb > MAX_STATUS) { |
---|
| 1054 | printf("ERROR Too many input status requested (%d > %d)\n", |
---|
| 1055 | nb, MAX_STATUS); |
---|
| 1056 | return TOO_MANY_DATA; |
---|
| 1057 | } |
---|
| 1058 | |
---|
| 1059 | status = read_io_status(mb_param, slave, FC_READ_INPUT_STATUS, |
---|
| 1060 | start_addr, nb, data_dest); |
---|
| 1061 | |
---|
| 1062 | if (status > 0) |
---|
| 1063 | status = nb; |
---|
| 1064 | |
---|
| 1065 | return status; |
---|
| 1066 | } |
---|
| 1067 | |
---|
| 1068 | /* Reads the data from a modbus slave and put that data into an array */ |
---|
| 1069 | static int read_registers(modbus_param_t *mb_param, int slave, int function, |
---|
| 1070 | int start_addr, int nb, uint16_t *data_dest) |
---|
| 1071 | { |
---|
| 1072 | int ret; |
---|
| 1073 | int query_length; |
---|
| 1074 | uint8_t query[MIN_QUERY_LENGTH]; |
---|
| 1075 | uint8_t response[MAX_MESSAGE_LENGTH]; |
---|
| 1076 | |
---|
| 1077 | if (nb > MAX_REGISTERS) { |
---|
| 1078 | printf("EROOR Too many holding registers requested (%d > %d)\n", |
---|
| 1079 | nb, MAX_REGISTERS); |
---|
| 1080 | return TOO_MANY_DATA; |
---|
| 1081 | } |
---|
| 1082 | |
---|
| 1083 | query_length = build_query_basis(mb_param, slave, function, |
---|
| 1084 | start_addr, nb, query); |
---|
| 1085 | |
---|
| 1086 | ret = modbus_send(mb_param, query, query_length); |
---|
| 1087 | if (ret > 0) { |
---|
| 1088 | int offset; |
---|
| 1089 | int i; |
---|
| 1090 | |
---|
| 1091 | ret = modbus_receive(mb_param, query, response); |
---|
| 1092 | |
---|
| 1093 | offset = mb_param->header_length; |
---|
| 1094 | mb_param->response_length=offset+ret+3; |
---|
| 1095 | |
---|
| 1096 | /* If ret is negative, the loop is jumped ! */ |
---|
| 1097 | for (i = 0; i < ret; i++) { |
---|
| 1098 | /* shift reg hi_byte to temp OR with lo_byte */ |
---|
| 1099 | data_dest[i] = (response[offset + 3 + (i << 1)] << 8) | |
---|
| 1100 | response[offset + 4 + (i << 1)]; |
---|
| 1101 | } |
---|
| 1102 | } |
---|
| 1103 | |
---|
| 1104 | return ret; |
---|
| 1105 | } |
---|
| 1106 | |
---|
| 1107 | /* Reads the holding registers in a slave and put the data into an |
---|
| 1108 | array */ |
---|
| 1109 | int read_holding_registers(modbus_param_t *mb_param, int slave, |
---|
| 1110 | int start_addr, int nb, uint16_t *data_dest) |
---|
| 1111 | { |
---|
| 1112 | int status; |
---|
| 1113 | |
---|
| 1114 | if (nb > MAX_REGISTERS) { |
---|
| 1115 | printf("ERROR Too many holding registers requested (%d > %d)\n", |
---|
| 1116 | nb, MAX_REGISTERS); |
---|
| 1117 | return TOO_MANY_DATA; |
---|
| 1118 | } |
---|
| 1119 | |
---|
| 1120 | status = read_registers(mb_param, slave, FC_READ_HOLDING_REGISTERS, |
---|
| 1121 | start_addr, nb, data_dest); |
---|
| 1122 | return status; |
---|
| 1123 | } |
---|
| 1124 | |
---|
| 1125 | /* Reads the input registers in a slave and put the data into |
---|
| 1126 | an array */ |
---|
| 1127 | int read_input_registers(modbus_param_t *mb_param, int slave, |
---|
| 1128 | int start_addr, int nb, uint16_t *data_dest) |
---|
| 1129 | { |
---|
| 1130 | int status; |
---|
| 1131 | |
---|
| 1132 | if (nb > MAX_REGISTERS) { |
---|
| 1133 | printf("ERROR Too many input registers requested (%d > %d)\n", |
---|
| 1134 | nb, MAX_REGISTERS); |
---|
| 1135 | return TOO_MANY_DATA; |
---|
| 1136 | } |
---|
| 1137 | |
---|
| 1138 | status = read_registers(mb_param, slave, FC_READ_INPUT_REGISTERS, |
---|
| 1139 | start_addr, nb, data_dest); |
---|
| 1140 | |
---|
| 1141 | return status; |
---|
| 1142 | } |
---|
| 1143 | |
---|
| 1144 | /* Sends a value to a register in a slave. |
---|
| 1145 | Used by force_single_coil and preset_single_register */ |
---|
| 1146 | static int set_single(modbus_param_t *mb_param, int slave, int function, |
---|
| 1147 | int addr, int value) |
---|
| 1148 | { |
---|
| 1149 | int ret; |
---|
| 1150 | int query_length; |
---|
| 1151 | uint8_t query[MIN_QUERY_LENGTH]; |
---|
| 1152 | |
---|
| 1153 | query_length = build_query_basis(mb_param, slave, function, |
---|
| 1154 | addr, value, query); |
---|
| 1155 | |
---|
| 1156 | ret = modbus_send(mb_param, query, query_length); |
---|
| 1157 | if (ret > 0) { |
---|
| 1158 | /* Used by force_single_coil and |
---|
| 1159 | * preset_single_register */ |
---|
| 1160 | uint8_t response[MIN_QUERY_LENGTH]; |
---|
| 1161 | ret = modbus_receive(mb_param, query, response); |
---|
| 1162 | } |
---|
| 1163 | |
---|
| 1164 | return ret; |
---|
| 1165 | } |
---|
| 1166 | |
---|
| 1167 | /* Turns ON or OFF a single coil in the slave device */ |
---|
| 1168 | int force_single_coil(modbus_param_t *mb_param, int slave, |
---|
| 1169 | int coil_addr, int state) |
---|
| 1170 | { |
---|
| 1171 | int status; |
---|
| 1172 | |
---|
| 1173 | if (state) |
---|
| 1174 | state = 0xFF00; |
---|
| 1175 | |
---|
| 1176 | status = set_single(mb_param, slave, FC_FORCE_SINGLE_COIL, |
---|
| 1177 | coil_addr, state); |
---|
| 1178 | |
---|
| 1179 | return status; |
---|
| 1180 | } |
---|
| 1181 | |
---|
| 1182 | /* Sets a value in one holding register in the slave device */ |
---|
| 1183 | int preset_single_register(modbus_param_t *mb_param, int slave, |
---|
| 1184 | int reg_addr, int value) |
---|
| 1185 | { |
---|
| 1186 | int status; |
---|
| 1187 | |
---|
| 1188 | status = set_single(mb_param, slave, FC_PRESET_SINGLE_REGISTER, |
---|
| 1189 | reg_addr, value); |
---|
| 1190 | |
---|
| 1191 | return status; |
---|
| 1192 | } |
---|
| 1193 | |
---|
| 1194 | /* Sets/resets the coils in the slave from an array in argument */ |
---|
| 1195 | int force_multiple_coils(modbus_param_t *mb_param, int slave, |
---|
| 1196 | int start_addr, int nb, |
---|
| 1197 | const uint8_t *data_src) |
---|
| 1198 | { |
---|
| 1199 | int ret; |
---|
| 1200 | int i; |
---|
| 1201 | int byte_count; |
---|
| 1202 | int query_length; |
---|
| 1203 | int coil_check = 0; |
---|
| 1204 | int pos = 0; |
---|
| 1205 | |
---|
| 1206 | uint8_t query[MAX_MESSAGE_LENGTH]; |
---|
| 1207 | |
---|
| 1208 | if (nb > MAX_STATUS) { |
---|
| 1209 | printf("ERROR Writing to too many coils (%d > %d)\n", |
---|
| 1210 | nb, MAX_STATUS); |
---|
| 1211 | return TOO_MANY_DATA; |
---|
| 1212 | } |
---|
| 1213 | |
---|
| 1214 | query_length = build_query_basis(mb_param, slave, |
---|
| 1215 | FC_FORCE_MULTIPLE_COILS, |
---|
| 1216 | start_addr, nb, query); |
---|
| 1217 | byte_count = (nb / 8) + ((nb % 8) ? 1 : 0); |
---|
| 1218 | query[query_length++] = byte_count; |
---|
| 1219 | |
---|
| 1220 | for (i = 0; i < byte_count; i++) { |
---|
| 1221 | int bit; |
---|
| 1222 | |
---|
| 1223 | bit = 0x01; |
---|
| 1224 | query[query_length] = 0; |
---|
| 1225 | |
---|
| 1226 | while ((bit & 0xFF) && (coil_check++ < nb)) { |
---|
| 1227 | if (data_src[pos++]) |
---|
| 1228 | query[query_length] |= bit; |
---|
| 1229 | else |
---|
| 1230 | query[query_length] &=~ bit; |
---|
| 1231 | |
---|
| 1232 | bit = bit << 1; |
---|
| 1233 | } |
---|
| 1234 | query_length++; |
---|
| 1235 | } |
---|
| 1236 | |
---|
| 1237 | ret = modbus_send(mb_param, query, query_length); |
---|
| 1238 | if (ret > 0) { |
---|
| 1239 | uint8_t response[MAX_MESSAGE_LENGTH]; |
---|
| 1240 | ret = modbus_receive(mb_param, query, response); |
---|
| 1241 | } |
---|
| 1242 | |
---|
| 1243 | |
---|
| 1244 | return ret; |
---|
| 1245 | } |
---|
| 1246 | |
---|
| 1247 | /* Copies the values in the slave from the array given in argument */ |
---|
| 1248 | int preset_multiple_registers(modbus_param_t *mb_param, int slave, |
---|
| 1249 | int start_addr, int nb, |
---|
| 1250 | const uint16_t *data_src) |
---|
| 1251 | { |
---|
| 1252 | int ret; |
---|
| 1253 | int i; |
---|
| 1254 | int query_length; |
---|
| 1255 | int byte_count; |
---|
| 1256 | |
---|
| 1257 | uint8_t query[MAX_MESSAGE_LENGTH]; |
---|
| 1258 | |
---|
| 1259 | if (nb > MAX_REGISTERS) { |
---|
| 1260 | printf("ERROR Trying to write to too many registers (%d > %d)\n", |
---|
| 1261 | nb, MAX_REGISTERS); |
---|
| 1262 | return TOO_MANY_DATA; |
---|
| 1263 | } |
---|
| 1264 | |
---|
| 1265 | query_length = build_query_basis(mb_param, slave, |
---|
| 1266 | FC_PRESET_MULTIPLE_REGISTERS, |
---|
| 1267 | start_addr, nb, query); |
---|
| 1268 | byte_count = nb * 2; |
---|
| 1269 | query[query_length++] = byte_count; |
---|
| 1270 | |
---|
| 1271 | for (i = 0; i < nb; i++) { |
---|
| 1272 | query[query_length++] = data_src[i] >> 8; |
---|
| 1273 | query[query_length++] = data_src[i] & 0x00FF; |
---|
| 1274 | } |
---|
| 1275 | |
---|
| 1276 | ret = modbus_send(mb_param, query, query_length); |
---|
| 1277 | if (ret > 0) { |
---|
| 1278 | uint8_t response[MAX_MESSAGE_LENGTH]; |
---|
| 1279 | ret = modbus_receive(mb_param, query, response); |
---|
| 1280 | } |
---|
| 1281 | |
---|
| 1282 | return ret; |
---|
| 1283 | } |
---|
| 1284 | |
---|
| 1285 | /* Returns the slave id! */ |
---|
| 1286 | int report_slave_id(modbus_param_t *mb_param, int slave, |
---|
| 1287 | uint8_t *data_dest) |
---|
| 1288 | { |
---|
| 1289 | int ret; |
---|
| 1290 | int query_length; |
---|
| 1291 | uint8_t query[MIN_QUERY_LENGTH]; |
---|
| 1292 | |
---|
| 1293 | query_length = build_query_basis(mb_param, slave, FC_REPORT_SLAVE_ID, |
---|
| 1294 | 0, 0, query); |
---|
| 1295 | |
---|
| 1296 | /* HACKISH, start_addr and count are not used */ |
---|
| 1297 | query_length -= 4; |
---|
| 1298 | |
---|
| 1299 | ret = modbus_send(mb_param, query, query_length); |
---|
| 1300 | if (ret > 0) { |
---|
| 1301 | int i; |
---|
| 1302 | int offset; |
---|
| 1303 | int offset_length; |
---|
| 1304 | uint8_t response[MAX_MESSAGE_LENGTH]; |
---|
| 1305 | |
---|
| 1306 | /* Byte count, slave id, run indicator status, |
---|
| 1307 | additional data */ |
---|
| 1308 | ret = modbus_receive(mb_param, query, response); |
---|
| 1309 | if (ret < 0) |
---|
| 1310 | return ret; |
---|
| 1311 | |
---|
| 1312 | offset = mb_param->header_length; |
---|
| 1313 | offset_length = offset + ret; |
---|
| 1314 | |
---|
| 1315 | for (i = offset; i < offset_length; i++) |
---|
| 1316 | data_dest[i] = response[i]; |
---|
| 1317 | } |
---|
| 1318 | |
---|
| 1319 | return ret; |
---|
| 1320 | } |
---|
| 1321 | |
---|
| 1322 | /* Initializes the modbus_param_t structure for RTU |
---|
| 1323 | - device: "/dev/ttyS0" |
---|
| 1324 | - baud: 9600, 19200, 57600, 115200, etc |
---|
| 1325 | - parity: "even", "odd" or "none" |
---|
| 1326 | - data_bits: 5, 6, 7, 8 |
---|
| 1327 | - stop_bits: 1, 2 |
---|
| 1328 | */ |
---|
| 1329 | void modbus_init_rtu(modbus_param_t *mb_param, const char *device, |
---|
| 1330 | int baud, const char *parity, int data_bit, |
---|
| 1331 | int stop_bit) |
---|
| 1332 | { |
---|
| 1333 | memset(mb_param, 0, sizeof(modbus_param_t)); |
---|
| 1334 | strcpy(mb_param->device, device); |
---|
| 1335 | mb_param->baud = baud; |
---|
| 1336 | strcpy(mb_param->parity, parity); |
---|
| 1337 | mb_param->debug = FALSE; |
---|
| 1338 | mb_param->data_bit = data_bit; |
---|
| 1339 | mb_param->stop_bit = stop_bit; |
---|
| 1340 | mb_param->type_com = RTU; |
---|
| 1341 | mb_param->header_length = HEADER_LENGTH_RTU; |
---|
| 1342 | mb_param->checksum_length = CHECKSUM_LENGTH_RTU; |
---|
| 1343 | mb_param->saveRawData=FALSE; |
---|
| 1344 | } |
---|
| 1345 | |
---|
| 1346 | /* Initializes the modbus_param_t structure for TCP. |
---|
| 1347 | - ip : "192.168.0.5" |
---|
| 1348 | - port : 1099 |
---|
| 1349 | |
---|
| 1350 | Set the port to MODBUS_TCP_DEFAULT_PORT to use the default one |
---|
| 1351 | (502). It's convenient to use a port number greater than or equal |
---|
| 1352 | to 1024 because it's not necessary to be root to use this port |
---|
| 1353 | number. |
---|
| 1354 | */ |
---|
| 1355 | void modbus_init_tcp(modbus_param_t *mb_param, const char *ip, int port) |
---|
| 1356 | { |
---|
| 1357 | memset(mb_param, 0, sizeof(modbus_param_t)); |
---|
| 1358 | strncpy(mb_param->ip, ip, sizeof(char)*16); |
---|
| 1359 | mb_param->port = port; |
---|
| 1360 | mb_param->type_com = TCP; |
---|
| 1361 | mb_param->header_length = HEADER_LENGTH_TCP; |
---|
| 1362 | mb_param->checksum_length = CHECKSUM_LENGTH_TCP; |
---|
| 1363 | mb_param->error_handling = FLUSH_OR_RECONNECT_ON_ERROR; |
---|
| 1364 | mb_param->saveRawData=FALSE; |
---|
| 1365 | } |
---|
| 1366 | |
---|
| 1367 | /* By default, the error handling mode used is FLUSH_OR_RECONNECT_ON_ERROR. |
---|
| 1368 | |
---|
| 1369 | With FLUSH_OR_RECONNECT_ON_ERROR, the library will flush to I/O |
---|
| 1370 | port in RTU mode or attempt an immediate reconnection which may |
---|
| 1371 | hang for several seconds if the network to the remote target unit |
---|
| 1372 | is down in TCP mode. |
---|
| 1373 | |
---|
| 1374 | With NOP_ON_ERROR, it is expected that the application will |
---|
| 1375 | check for error returns and deal with them as necessary. |
---|
| 1376 | */ |
---|
| 1377 | void modbus_set_error_handling(modbus_param_t *mb_param, |
---|
| 1378 | error_handling_t error_handling) |
---|
| 1379 | { |
---|
| 1380 | if (error_handling == FLUSH_OR_RECONNECT_ON_ERROR || |
---|
| 1381 | error_handling == NOP_ON_ERROR) { |
---|
| 1382 | mb_param->error_handling = error_handling; |
---|
| 1383 | } else { |
---|
| 1384 | printf("Invalid setting for error handling (not changed)\n"); |
---|
| 1385 | } |
---|
| 1386 | } |
---|
| 1387 | |
---|
| 1388 | |
---|
| 1389 | /* Sets up a serial port for RTU communications */ |
---|
| 1390 | static int modbus_connect_rtu(modbus_param_t *mb_param) |
---|
| 1391 | { |
---|
| 1392 | struct termios tios; |
---|
| 1393 | speed_t speed; |
---|
| 1394 | |
---|
| 1395 | if (mb_param->debug) { |
---|
| 1396 | printf("Opening %s at %d bauds (%s)\n", |
---|
| 1397 | mb_param->device, mb_param->baud, mb_param->parity); |
---|
| 1398 | } |
---|
| 1399 | |
---|
| 1400 | /* The O_NOCTTY flag tells UNIX that this program doesn't want |
---|
| 1401 | to be the "controlling terminal" for that port. If you |
---|
| 1402 | don't specify this then any input (such as keyboard abort |
---|
| 1403 | signals and so forth) will affect your process |
---|
| 1404 | |
---|
| 1405 | Timeouts are ignored in canonical input mode or when the |
---|
| 1406 | NDELAY option is set on the file via open or fcntl */ |
---|
| 1407 | mb_param->fd = open(mb_param->device, O_RDWR | O_NOCTTY | O_NDELAY); |
---|
| 1408 | if (mb_param->fd < 0) { |
---|
| 1409 | perror("open"); |
---|
| 1410 | printf("ERROR Can't open the device %s (errno %d)\n", |
---|
| 1411 | mb_param->device, errno); |
---|
| 1412 | return -1; |
---|
| 1413 | } |
---|
| 1414 | |
---|
| 1415 | /* Save */ |
---|
| 1416 | tcgetattr(mb_param->fd, &(mb_param->old_tios)); |
---|
| 1417 | |
---|
| 1418 | memset(&tios, 0, sizeof(struct termios)); |
---|
| 1419 | |
---|
| 1420 | /* C_ISPEED Input baud (new interface) |
---|
| 1421 | C_OSPEED Output baud (new interface) |
---|
| 1422 | */ |
---|
| 1423 | switch (mb_param->baud) { |
---|
| 1424 | case 110: |
---|
| 1425 | speed = B110; |
---|
| 1426 | break; |
---|
| 1427 | case 300: |
---|
| 1428 | speed = B300; |
---|
| 1429 | break; |
---|
| 1430 | case 600: |
---|
| 1431 | speed = B600; |
---|
| 1432 | break; |
---|
| 1433 | case 1200: |
---|
| 1434 | speed = B1200; |
---|
| 1435 | break; |
---|
| 1436 | case 2400: |
---|
| 1437 | speed = B2400; |
---|
| 1438 | break; |
---|
| 1439 | case 4800: |
---|
| 1440 | speed = B4800; |
---|
| 1441 | break; |
---|
| 1442 | case 9600: |
---|
| 1443 | speed = B9600; |
---|
| 1444 | break; |
---|
| 1445 | case 19200: |
---|
| 1446 | speed = B19200; |
---|
| 1447 | break; |
---|
| 1448 | case 38400: |
---|
| 1449 | speed = B38400; |
---|
| 1450 | break; |
---|
| 1451 | case 57600: |
---|
| 1452 | speed = B57600; |
---|
| 1453 | break; |
---|
| 1454 | case 115200: |
---|
| 1455 | speed = B115200; |
---|
| 1456 | break; |
---|
| 1457 | default: |
---|
| 1458 | speed = B9600; |
---|
| 1459 | printf("WARNING Unknown baud rate %d for %s (B9600 used)\n", |
---|
| 1460 | mb_param->baud, mb_param->device); |
---|
| 1461 | } |
---|
| 1462 | |
---|
| 1463 | /* Set the baud rate */ |
---|
| 1464 | if ((cfsetispeed(&tios, speed) < 0) || |
---|
| 1465 | (cfsetospeed(&tios, speed) < 0)) { |
---|
| 1466 | perror("cfsetispeed/cfsetospeed\n"); |
---|
| 1467 | return -1; |
---|
| 1468 | } |
---|
| 1469 | |
---|
| 1470 | /* C_CFLAG Control options |
---|
| 1471 | CLOCAL Local line - do not change "owner" of port |
---|
| 1472 | CREAD Enable receiver |
---|
| 1473 | */ |
---|
| 1474 | tios.c_cflag |= (CREAD | CLOCAL); |
---|
| 1475 | /* CSIZE, HUPCL, CRTSCTS (hardware flow control) */ |
---|
| 1476 | |
---|
| 1477 | /* Set data bits (5, 6, 7, 8 bits) |
---|
| 1478 | CSIZE Bit mask for data bits |
---|
| 1479 | */ |
---|
| 1480 | tios.c_cflag &= ~CSIZE; |
---|
| 1481 | switch (mb_param->data_bit) { |
---|
| 1482 | case 5: |
---|
| 1483 | tios.c_cflag |= CS5; |
---|
| 1484 | break; |
---|
| 1485 | case 6: |
---|
| 1486 | tios.c_cflag |= CS6; |
---|
| 1487 | break; |
---|
| 1488 | case 7: |
---|
| 1489 | tios.c_cflag |= CS7; |
---|
| 1490 | break; |
---|
| 1491 | case 8: |
---|
| 1492 | default: |
---|
| 1493 | tios.c_cflag |= CS8; |
---|
| 1494 | break; |
---|
| 1495 | } |
---|
| 1496 | |
---|
| 1497 | /* Stop bit (1 or 2) */ |
---|
| 1498 | if (mb_param->stop_bit == 1) |
---|
| 1499 | tios.c_cflag &=~ CSTOPB; |
---|
| 1500 | else /* 2 */ |
---|
| 1501 | tios.c_cflag |= CSTOPB; |
---|
| 1502 | |
---|
| 1503 | /* PARENB Enable parity bit |
---|
| 1504 | PARODD Use odd parity instead of even */ |
---|
| 1505 | if (strncmp(mb_param->parity, "none", 4) == 0) { |
---|
| 1506 | tios.c_cflag &=~ PARENB; |
---|
| 1507 | } else if (strncmp(mb_param->parity, "even", 4) == 0) { |
---|
| 1508 | tios.c_cflag |= PARENB; |
---|
| 1509 | tios.c_cflag &=~ PARODD; |
---|
| 1510 | } else { |
---|
| 1511 | /* odd */ |
---|
| 1512 | tios.c_cflag |= PARENB; |
---|
| 1513 | tios.c_cflag |= PARODD; |
---|
| 1514 | } |
---|
| 1515 | |
---|
| 1516 | /* Read the man page of termios if you need more information. */ |
---|
| 1517 | |
---|
| 1518 | /* This field isn't used on POSIX systems |
---|
| 1519 | tios.c_line = 0; |
---|
| 1520 | */ |
---|
| 1521 | |
---|
| 1522 | /* C_LFLAG Line options |
---|
| 1523 | |
---|
| 1524 | ISIG Enable SIGINTR, SIGSUSP, SIGDSUSP, and SIGQUIT signals |
---|
| 1525 | ICANON Enable canonical input (else raw) |
---|
| 1526 | XCASE Map uppercase \lowercase (obsolete) |
---|
| 1527 | ECHO Enable echoing of input characters |
---|
| 1528 | ECHOE Echo erase character as BS-SP-BS |
---|
| 1529 | ECHOK Echo NL after kill character |
---|
| 1530 | ECHONL Echo NL |
---|
| 1531 | NOFLSH Disable flushing of input buffers after |
---|
| 1532 | interrupt or quit characters |
---|
| 1533 | IEXTEN Enable extended functions |
---|
| 1534 | ECHOCTL Echo control characters as ^char and delete as ~? |
---|
| 1535 | ECHOPRT Echo erased character as character erased |
---|
| 1536 | ECHOKE BS-SP-BS entire line on line kill |
---|
| 1537 | FLUSHO Output being flushed |
---|
| 1538 | PENDIN Retype pending input at next read or input char |
---|
| 1539 | TOSTOP Send SIGTTOU for background output |
---|
| 1540 | |
---|
| 1541 | Canonical input is line-oriented. Input characters are put |
---|
| 1542 | into a buffer which can be edited interactively by the user |
---|
| 1543 | until a CR (carriage return) or LF (line feed) character is |
---|
| 1544 | received. |
---|
| 1545 | |
---|
| 1546 | Raw input is unprocessed. Input characters are passed |
---|
| 1547 | through exactly as they are received, when they are |
---|
| 1548 | received. Generally you'll deselect the ICANON, ECHO, |
---|
| 1549 | ECHOE, and ISIG options when using raw input |
---|
| 1550 | */ |
---|
| 1551 | |
---|
| 1552 | /* Raw input */ |
---|
| 1553 | tios.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); |
---|
| 1554 | |
---|
| 1555 | /* C_IFLAG Input options |
---|
| 1556 | |
---|
| 1557 | Constant Description |
---|
| 1558 | INPCK Enable parity check |
---|
| 1559 | IGNPAR Ignore parity errors |
---|
| 1560 | PARMRK Mark parity errors |
---|
| 1561 | ISTRIP Strip parity bits |
---|
| 1562 | IXON Enable software flow control (outgoing) |
---|
| 1563 | IXOFF Enable software flow control (incoming) |
---|
| 1564 | IXANY Allow any character to start flow again |
---|
| 1565 | IGNBRK Ignore break condition |
---|
| 1566 | BRKINT Send a SIGINT when a break condition is detected |
---|
| 1567 | INLCR Map NL to CR |
---|
| 1568 | IGNCR Ignore CR |
---|
| 1569 | ICRNL Map CR to NL |
---|
| 1570 | IUCLC Map uppercase to lowercase |
---|
| 1571 | IMAXBEL Echo BEL on input line too long |
---|
| 1572 | */ |
---|
| 1573 | if (strncmp(mb_param->parity, "none", 4) == 0) { |
---|
| 1574 | tios.c_iflag &= ~INPCK; |
---|
| 1575 | } else { |
---|
| 1576 | tios.c_iflag |= INPCK; |
---|
| 1577 | } |
---|
| 1578 | |
---|
| 1579 | /* Software flow control is disabled */ |
---|
| 1580 | tios.c_iflag &= ~(IXON | IXOFF | IXANY); |
---|
| 1581 | |
---|
| 1582 | /* C_OFLAG Output options |
---|
| 1583 | OPOST Postprocess output (not set = raw output) |
---|
| 1584 | ONLCR Map NL to CR-NL |
---|
| 1585 | |
---|
| 1586 | ONCLR ant others needs OPOST to be enabled |
---|
| 1587 | */ |
---|
| 1588 | |
---|
| 1589 | /* Raw ouput */ |
---|
| 1590 | tios.c_oflag &=~ OPOST; |
---|
| 1591 | |
---|
| 1592 | /* C_CC Control characters |
---|
| 1593 | VMIN Minimum number of characters to read |
---|
| 1594 | VTIME Time to wait for data (tenths of seconds) |
---|
| 1595 | |
---|
| 1596 | UNIX serial interface drivers provide the ability to |
---|
| 1597 | specify character and packet timeouts. Two elements of the |
---|
| 1598 | c_cc array are used for timeouts: VMIN and VTIME. Timeouts |
---|
| 1599 | are ignored in canonical input mode or when the NDELAY |
---|
| 1600 | option is set on the file via open or fcntl. |
---|
| 1601 | |
---|
| 1602 | VMIN specifies the minimum number of characters to read. If |
---|
| 1603 | it is set to 0, then the VTIME value specifies the time to |
---|
| 1604 | wait for every character read. Note that this does not mean |
---|
| 1605 | that a read call for N bytes will wait for N characters to |
---|
| 1606 | come in. Rather, the timeout will apply to the first |
---|
| 1607 | character and the read call will return the number of |
---|
| 1608 | characters immediately available (up to the number you |
---|
| 1609 | request). |
---|
| 1610 | |
---|
| 1611 | If VMIN is non-zero, VTIME specifies the time to wait for |
---|
| 1612 | the first character read. If a character is read within the |
---|
| 1613 | time given, any read will block (wait) until all VMIN |
---|
| 1614 | characters are read. That is, once the first character is |
---|
| 1615 | read, the serial interface driver expects to receive an |
---|
| 1616 | entire packet of characters (VMIN bytes total). If no |
---|
| 1617 | character is read within the time allowed, then the call to |
---|
| 1618 | read returns 0. This method allows you to tell the serial |
---|
| 1619 | driver you need exactly N bytes and any read call will |
---|
| 1620 | return 0 or N bytes. However, the timeout only applies to |
---|
| 1621 | the first character read, so if for some reason the driver |
---|
| 1622 | misses one character inside the N byte packet then the read |
---|
| 1623 | call could block forever waiting for additional input |
---|
| 1624 | characters. |
---|
| 1625 | |
---|
| 1626 | VTIME specifies the amount of time to wait for incoming |
---|
| 1627 | characters in tenths of seconds. If VTIME is set to 0 (the |
---|
| 1628 | default), reads will block (wait) indefinitely unless the |
---|
| 1629 | NDELAY option is set on the port with open or fcntl. |
---|
| 1630 | */ |
---|
| 1631 | /* Unused because we use open with the NDELAY option */ |
---|
| 1632 | tios.c_cc[VMIN] = 0; |
---|
| 1633 | tios.c_cc[VTIME] = 0; |
---|
| 1634 | |
---|
| 1635 | if (tcsetattr(mb_param->fd, TCSANOW, &tios) < 0) { |
---|
| 1636 | perror("tcsetattr\n"); |
---|
| 1637 | return -1; |
---|
| 1638 | } |
---|
| 1639 | |
---|
| 1640 | return 0; |
---|
| 1641 | } |
---|
| 1642 | |
---|
| 1643 | /* Establishes a modbus TCP connection with a modbus slave */ |
---|
| 1644 | static int modbus_connect_tcp(modbus_param_t *mb_param) |
---|
| 1645 | { |
---|
| 1646 | int ret; |
---|
| 1647 | int option; |
---|
| 1648 | struct sockaddr_in addr; |
---|
| 1649 | |
---|
| 1650 | addr.sin_family = AF_INET; |
---|
| 1651 | addr.sin_port = htons(mb_param->port); |
---|
| 1652 | addr.sin_addr.s_addr = inet_addr(mb_param->ip); |
---|
| 1653 | |
---|
| 1654 | mb_param->fd = socket(AF_INET, SOCK_STREAM, 0); |
---|
| 1655 | if (mb_param->fd < 0) { |
---|
| 1656 | return mb_param->fd; |
---|
| 1657 | } |
---|
| 1658 | |
---|
| 1659 | /* Set the TCP no delay flag */ |
---|
| 1660 | /* SOL_TCP = IPPROTO_TCP */ |
---|
| 1661 | option = 1; |
---|
| 1662 | ret = setsockopt(mb_param->fd, IPPROTO_TCP, TCP_NODELAY, |
---|
| 1663 | (const void *)&option, sizeof(int)); |
---|
| 1664 | if (ret < 0) { |
---|
| 1665 | perror("setsockopt"); |
---|
| 1666 | close(mb_param->fd); |
---|
| 1667 | return ret; |
---|
| 1668 | } |
---|
| 1669 | |
---|
| 1670 | #ifndef __APPLE__ |
---|
| 1671 | /* Set the IP low delay option- Not Supported on Mac OS X MJB 02/16/09 */ |
---|
| 1672 | option = IPTOS_LOWDELAY; |
---|
| 1673 | ret = setsockopt(mb_param->fd, IPPROTO_TCP, IP_TOS, |
---|
| 1674 | (const void *)&option, sizeof(int)); |
---|
| 1675 | if (ret < 0) { |
---|
| 1676 | perror("setsockopt"); |
---|
| 1677 | close(mb_param->fd); |
---|
| 1678 | return ret; |
---|
| 1679 | } |
---|
| 1680 | #endif |
---|
| 1681 | |
---|
| 1682 | if (mb_param->debug) { |
---|
| 1683 | printf("Connecting to %s\n", mb_param->ip); |
---|
| 1684 | } |
---|
| 1685 | |
---|
| 1686 | ret = connect(mb_param->fd, (struct sockaddr *)&addr, |
---|
| 1687 | sizeof(struct sockaddr_in)); |
---|
| 1688 | if (ret < 0) { |
---|
| 1689 | perror("connect"); |
---|
| 1690 | close(mb_param->fd); |
---|
| 1691 | return ret; |
---|
| 1692 | } |
---|
| 1693 | |
---|
| 1694 | return 0; |
---|
| 1695 | } |
---|
| 1696 | |
---|
| 1697 | /* Establishes a modbus connexion. |
---|
| 1698 | Returns -1 if an error occured. */ |
---|
| 1699 | int modbus_connect(modbus_param_t *mb_param) |
---|
| 1700 | { |
---|
| 1701 | int ret; |
---|
| 1702 | |
---|
| 1703 | if (mb_param->type_com == RTU) |
---|
| 1704 | ret = modbus_connect_rtu(mb_param); |
---|
| 1705 | else |
---|
| 1706 | ret = modbus_connect_tcp(mb_param); |
---|
| 1707 | |
---|
| 1708 | return ret; |
---|
| 1709 | } |
---|
| 1710 | |
---|
| 1711 | /* Closes the file descriptor in RTU mode */ |
---|
| 1712 | static void modbus_close_rtu(modbus_param_t *mb_param) |
---|
| 1713 | { |
---|
| 1714 | if (tcsetattr(mb_param->fd, TCSANOW, &(mb_param->old_tios)) < 0) |
---|
| 1715 | perror("tcsetattr"); |
---|
| 1716 | |
---|
| 1717 | close(mb_param->fd); |
---|
| 1718 | } |
---|
| 1719 | |
---|
| 1720 | /* Closes the network connection and socket in TCP mode */ |
---|
| 1721 | static void modbus_close_tcp(modbus_param_t *mb_param) |
---|
| 1722 | { |
---|
| 1723 | shutdown(mb_param->fd, SHUT_RDWR); |
---|
| 1724 | close(mb_param->fd); |
---|
| 1725 | } |
---|
| 1726 | |
---|
| 1727 | /* Closes a modbus connection */ |
---|
| 1728 | void modbus_close(modbus_param_t *mb_param) |
---|
| 1729 | { |
---|
| 1730 | if (mb_param->type_com == RTU) |
---|
| 1731 | modbus_close_rtu(mb_param); |
---|
| 1732 | else |
---|
| 1733 | modbus_close_tcp(mb_param); |
---|
| 1734 | } |
---|
| 1735 | |
---|
| 1736 | /* Activates the debug messages */ |
---|
| 1737 | void modbus_set_debug(modbus_param_t *mb_param, int boolean) |
---|
| 1738 | { |
---|
| 1739 | mb_param->debug = boolean; |
---|
| 1740 | } |
---|
| 1741 | |
---|
| 1742 | |
---|
| 1743 | // Activates saving raw query and responses |
---|
| 1744 | void modbus_set_raw_data_save(modbus_param_t *mb_param, int boolean) |
---|
| 1745 | { |
---|
| 1746 | mb_param->saveRawData=boolean; |
---|
| 1747 | } |
---|
| 1748 | |
---|
| 1749 | // Returns a raw query |
---|
| 1750 | int modbus_last_raw_query(modbus_param_t *mb_param, uint8_t *rawQuery) |
---|
| 1751 | { |
---|
| 1752 | int i; |
---|
| 1753 | if(mb_param->rawQuery!=NULL) |
---|
| 1754 | { |
---|
| 1755 | for (i = 0; i < MIN_QUERY_LENGTH; i++) |
---|
| 1756 | rawQuery[i]=mb_param->rawQuery[i]; |
---|
| 1757 | return TRUE; |
---|
| 1758 | } |
---|
| 1759 | return FALSE; |
---|
| 1760 | } |
---|
| 1761 | |
---|
| 1762 | // Returns a raw response |
---|
| 1763 | int modbus_last_raw_response(modbus_param_t *mb_param, uint8_t *rawResponse) |
---|
| 1764 | { |
---|
| 1765 | int i; |
---|
| 1766 | if(mb_param->rawResponse!=NULL) |
---|
| 1767 | { |
---|
| 1768 | for (i = 0; i < mb_param->rawResponseLength; i++) |
---|
| 1769 | rawResponse[i]=mb_param->rawResponse[i]; |
---|
| 1770 | return TRUE; |
---|
| 1771 | } |
---|
| 1772 | return FALSE; |
---|
| 1773 | } |
---|
| 1774 | |
---|
| 1775 | int modbus_last_raw_query_length(modbus_param_t *mb_param) |
---|
| 1776 | { |
---|
| 1777 | return(mb_param->rawQueryLength); |
---|
| 1778 | } |
---|
| 1779 | |
---|
| 1780 | int modbus_last_raw_response_length(modbus_param_t *mb_param) |
---|
| 1781 | { |
---|
| 1782 | return(mb_param->rawResponseLength); |
---|
| 1783 | } |
---|
| 1784 | |
---|
| 1785 | |
---|
| 1786 | /* Allocates 4 arrays to store coils, input status, input registers and |
---|
| 1787 | holding registers. The pointers are stored in modbus_mapping structure. |
---|
| 1788 | |
---|
| 1789 | Returns: TRUE if ok, FALSE on failure |
---|
| 1790 | */ |
---|
| 1791 | int modbus_mapping_new(modbus_mapping_t *mb_mapping, |
---|
| 1792 | int nb_coil_status, int nb_input_status, |
---|
| 1793 | int nb_holding_registers, int nb_input_registers) |
---|
| 1794 | { |
---|
| 1795 | /* 0X */ |
---|
| 1796 | mb_mapping->nb_coil_status = nb_coil_status; |
---|
| 1797 | mb_mapping->tab_coil_status = |
---|
| 1798 | (uint8_t *) malloc(nb_coil_status * sizeof(uint8_t)); |
---|
| 1799 | memset(mb_mapping->tab_coil_status, 0, |
---|
| 1800 | nb_coil_status * sizeof(uint8_t)); |
---|
| 1801 | if (mb_mapping->tab_coil_status == NULL) |
---|
| 1802 | return FALSE; |
---|
| 1803 | |
---|
| 1804 | /* 1X */ |
---|
| 1805 | mb_mapping->nb_input_status = nb_input_status; |
---|
| 1806 | mb_mapping->tab_input_status = |
---|
| 1807 | (uint8_t *) malloc(nb_input_status * sizeof(uint8_t)); |
---|
| 1808 | memset(mb_mapping->tab_input_status, 0, |
---|
| 1809 | nb_input_status * sizeof(uint8_t)); |
---|
| 1810 | if (mb_mapping->tab_input_status == NULL) { |
---|
| 1811 | free(mb_mapping->tab_coil_status); |
---|
| 1812 | return FALSE; |
---|
| 1813 | } |
---|
| 1814 | |
---|
| 1815 | /* 4X */ |
---|
| 1816 | mb_mapping->nb_holding_registers = nb_holding_registers; |
---|
| 1817 | mb_mapping->tab_holding_registers = |
---|
| 1818 | (uint16_t *) malloc(nb_holding_registers * sizeof(uint16_t)); |
---|
| 1819 | memset(mb_mapping->tab_holding_registers, 0, |
---|
| 1820 | nb_holding_registers * sizeof(uint16_t)); |
---|
| 1821 | if (mb_mapping->tab_holding_registers == NULL) { |
---|
| 1822 | free(mb_mapping->tab_coil_status); |
---|
| 1823 | free(mb_mapping->tab_input_status); |
---|
| 1824 | return FALSE; |
---|
| 1825 | } |
---|
| 1826 | |
---|
| 1827 | /* 3X */ |
---|
| 1828 | mb_mapping->nb_input_registers = nb_input_registers; |
---|
| 1829 | mb_mapping->tab_input_registers = |
---|
| 1830 | (uint16_t *) malloc(nb_input_registers * sizeof(uint16_t)); |
---|
| 1831 | memset(mb_mapping->tab_input_registers, 0, |
---|
| 1832 | nb_input_registers * sizeof(uint16_t)); |
---|
| 1833 | if (mb_mapping->tab_input_registers == NULL) { |
---|
| 1834 | free(mb_mapping->tab_coil_status); |
---|
| 1835 | free(mb_mapping->tab_input_status); |
---|
| 1836 | free(mb_mapping->tab_holding_registers); |
---|
| 1837 | return FALSE; |
---|
| 1838 | } |
---|
| 1839 | |
---|
| 1840 | return TRUE; |
---|
| 1841 | } |
---|
| 1842 | |
---|
| 1843 | /* Frees the 4 arrays */ |
---|
| 1844 | void modbus_mapping_free(modbus_mapping_t *mb_mapping) |
---|
| 1845 | { |
---|
| 1846 | free(mb_mapping->tab_coil_status); |
---|
| 1847 | free(mb_mapping->tab_input_status); |
---|
| 1848 | free(mb_mapping->tab_holding_registers); |
---|
| 1849 | free(mb_mapping->tab_input_registers); |
---|
| 1850 | } |
---|
| 1851 | |
---|
| 1852 | /* Listens for any query from a modbus master in TCP */ |
---|
| 1853 | int modbus_init_listen_tcp(modbus_param_t *mb_param) |
---|
| 1854 | { |
---|
| 1855 | int ret; |
---|
| 1856 | int new_socket; |
---|
| 1857 | struct sockaddr_in addr; |
---|
| 1858 | socklen_t addrlen; |
---|
| 1859 | |
---|
| 1860 | addr.sin_family = AF_INET; |
---|
| 1861 | /* If the modbus port is < to 1024, we need the setuid root. */ |
---|
| 1862 | addr.sin_port = htons(mb_param->port); |
---|
| 1863 | addr.sin_addr.s_addr = INADDR_ANY; |
---|
| 1864 | memset(&(addr.sin_zero), '\0', 8); |
---|
| 1865 | |
---|
| 1866 | new_socket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP); |
---|
| 1867 | if (new_socket < 0) { |
---|
| 1868 | perror("socket"); |
---|
| 1869 | exit(1); |
---|
| 1870 | } else { |
---|
| 1871 | printf("Socket OK\n"); |
---|
| 1872 | } |
---|
| 1873 | |
---|
| 1874 | ret = bind(new_socket, (struct sockaddr *)&addr, |
---|
| 1875 | sizeof(struct sockaddr_in)); |
---|
| 1876 | if (ret < 0) { |
---|
| 1877 | perror("bind"); |
---|
| 1878 | close(new_socket); |
---|
| 1879 | exit(1); |
---|
| 1880 | } else { |
---|
| 1881 | printf("Bind OK\n"); |
---|
| 1882 | } |
---|
| 1883 | |
---|
| 1884 | ret = listen(new_socket, 1); |
---|
| 1885 | if (ret != 0) { |
---|
| 1886 | perror("listen"); |
---|
| 1887 | close(new_socket); |
---|
| 1888 | exit(1); |
---|
| 1889 | } else { |
---|
| 1890 | printf("Listen OK\n"); |
---|
| 1891 | } |
---|
| 1892 | |
---|
| 1893 | addrlen = sizeof(struct sockaddr_in); |
---|
| 1894 | mb_param->fd = accept(new_socket, (struct sockaddr *)&addr, &addrlen); |
---|
| 1895 | if (ret < 0) { |
---|
| 1896 | perror("accept"); |
---|
| 1897 | close(new_socket); |
---|
| 1898 | new_socket = 0; |
---|
| 1899 | exit(1); |
---|
| 1900 | } else { |
---|
| 1901 | printf("The client %s is connected\n", |
---|
| 1902 | inet_ntoa(addr.sin_addr)); |
---|
| 1903 | } |
---|
| 1904 | |
---|
| 1905 | return new_socket; |
---|
| 1906 | } |
---|
| 1907 | |
---|
| 1908 | /** Utils **/ |
---|
| 1909 | |
---|
| 1910 | /* Sets many input/coil status from a single byte value (all 8 bits of |
---|
| 1911 | the byte value are setted) */ |
---|
| 1912 | void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value) |
---|
| 1913 | { |
---|
| 1914 | int i; |
---|
| 1915 | |
---|
| 1916 | for (i=0; i<8; i++) { |
---|
| 1917 | dest[address+i] = (value & (1 << i)) ? ON : OFF; |
---|
| 1918 | } |
---|
| 1919 | } |
---|
| 1920 | |
---|
| 1921 | /* Sets many input/coil status from a table of bytes (only the bits |
---|
| 1922 | between address and address + nb_bits are setted) */ |
---|
| 1923 | void set_bits_from_bytes(uint8_t *dest, int address, int nb_bits, |
---|
| 1924 | const uint8_t tab_byte[]) |
---|
| 1925 | { |
---|
| 1926 | int i; |
---|
| 1927 | int shift = 0; |
---|
| 1928 | |
---|
| 1929 | for (i = address; i < address + nb_bits; i++) { |
---|
| 1930 | dest[i] = tab_byte[(i - address) / 8] & (1 << shift) ? ON : OFF; |
---|
| 1931 | /* gcc doesn't like: shift = (++shift) % 8; */ |
---|
| 1932 | shift++; |
---|
| 1933 | shift %= 8; |
---|
| 1934 | } |
---|
| 1935 | } |
---|
| 1936 | |
---|
| 1937 | /* Gets the byte value from many input/coil status. |
---|
| 1938 | To obtain a full byte, set nb_bits to 8. */ |
---|
| 1939 | uint8_t get_byte_from_bits(const uint8_t *src, int address, int nb_bits) |
---|
| 1940 | { |
---|
| 1941 | int i; |
---|
| 1942 | uint8_t value = 0; |
---|
| 1943 | |
---|
| 1944 | if (nb_bits > 8) { |
---|
| 1945 | printf("Error: nb_bits is too big\n"); |
---|
| 1946 | nb_bits = 8; |
---|
| 1947 | } |
---|
| 1948 | |
---|
| 1949 | for (i=0; i < nb_bits; i++) { |
---|
| 1950 | value |= (src[address+i] << i); |
---|
| 1951 | } |
---|
| 1952 | |
---|
| 1953 | return value; |
---|
| 1954 | } |
---|