| 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 | #ifndef _MODBUS_H_
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| 19 | #define _MODBUS_H_
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| 20 |
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| 21 | #include <stdint.h>
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| 22 | #include <termios.h>
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| 23 | #include <arpa/inet.h>
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| 24 |
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| 25 | #ifdef __cplusplus
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| 26 | extern "C" {
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| 27 | #endif
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| 28 |
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| 29 | #define MODBUS_TCP_DEFAULT_PORT 502
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| 30 |
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| 31 | #define HEADER_LENGTH_RTU 0
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| 32 | #define PRESET_QUERY_LENGTH_RTU 6
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| 33 | #define PRESET_RESPONSE_LENGTH_RTU 2
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| 34 |
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| 35 | #define HEADER_LENGTH_TCP 6
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| 36 | #define PRESET_QUERY_LENGTH_TCP 12
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| 37 | #define PRESET_RESPONSE_LENGTH_TCP 8
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| 38 |
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| 39 | #define CHECKSUM_LENGTH_RTU 2
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| 40 | #define CHECKSUM_LENGTH_TCP 0
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| 41 |
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| 42 | /* It's not really the minimal length (the real one is report slave ID
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| 43 | * in RTU (4 bytes)) but it's a convenient size to use in RTU or TCP
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| 44 | * communications to read many values or write a single one.
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| 45 | * Maximum between :
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| 46 | * - HEADER_LENGTH_TCP (6) + slave (1) + function (1) + address (2) +
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| 47 | * number (2)
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| 48 | * - HEADER_LENGTH_RTU (0) + slave (1) + function (1) + address (2) +
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| 49 | * number (2) + CRC (2)
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| 50 | */
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| 51 | #define MIN_QUERY_LENGTH 12
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| 52 |
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| 53 | /* Page 102, Application Notes of PIâMBUSâ300:
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| 54 | * The maximum length of the entire message must not exceed 256
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| 55 | * bytes.
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| 56 | */
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| 57 | #define MAX_MESSAGE_LENGTH 256
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| 58 |
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| 59 | #define MAX_STATUS 800
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| 60 | #define MAX_REGISTERS 100
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| 61 |
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| 62 | #define REPORT_SLAVE_ID_LENGTH 75
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| 63 |
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| 64 | /* Time out between trames in microsecond */
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| 65 | #define TIME_OUT_BEGIN_OF_TRAME 500000
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| 66 | #define TIME_OUT_END_OF_TRAME 500000
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| 67 |
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| 68 | #ifndef FALSE
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| 69 | #define FALSE 0
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| 70 | #endif
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| 71 |
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| 72 | #ifndef TRUE
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| 73 | #define TRUE 1
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| 74 | #endif
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| 75 |
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| 76 | #ifndef OFF
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| 77 | #define OFF 0
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| 78 | #endif
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| 79 |
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| 80 | #ifndef ON
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| 81 | #define ON 1
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| 82 | #endif
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| 83 |
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| 84 | /* Function codes */
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| 85 | #define FC_READ_COIL_STATUS 0x01 /* discretes inputs */
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| 86 | #define FC_READ_INPUT_STATUS 0x02 /* discretes outputs */
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| 87 | #define FC_READ_HOLDING_REGISTERS 0x03
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| 88 | #define FC_READ_INPUT_REGISTERS 0x04
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| 89 | #define FC_FORCE_SINGLE_COIL 0x05
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| 90 | #define FC_PRESET_SINGLE_REGISTER 0x06
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| 91 | #define FC_READ_EXCEPTION_STATUS 0x07
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| 92 | #define FC_FORCE_MULTIPLE_COILS 0x0F
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| 93 | #define FC_PRESET_MULTIPLE_REGISTERS 0x10
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| 94 | #define FC_REPORT_SLAVE_ID 0x11
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| 95 |
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| 96 | /* Protocol exceptions */
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| 97 | #define ILLEGAL_FUNCTION -0x01
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| 98 | #define ILLEGAL_DATA_ADDRESS -0x02
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| 99 | #define ILLEGAL_DATA_VALUE -0x03
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| 100 | #define SLAVE_DEVICE_FAILURE -0x04
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| 101 | #define SERVER_FAILURE -0x04
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| 102 | #define ACKNOWLEDGE -0x05
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| 103 | #define SLAVE_DEVICE_BUSY -0x06
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| 104 | #define SERVER_BUSY -0x06
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| 105 | #define NEGATIVE_ACKNOWLEDGE -0x07
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| 106 | #define MEMORY_PARITY_ERROR -0x08
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| 107 | #define GATEWAY_PROBLEM_PATH -0x0A
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| 108 | #define GATEWAY_PROBLEM_TARGET -0x0B
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| 109 |
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| 110 | /* Local */
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| 111 | #define COMM_TIME_OUT -0x0C
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| 112 | #define PORT_SOCKET_FAILURE -0x0D
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| 113 | #define SELECT_FAILURE -0x0E
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| 114 | #define TOO_MANY_DATA -0x0F
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| 115 | #define INVALID_CRC -0x10
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| 116 | #define INVALID_EXCEPTION_CODE -0x11
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| 117 | #define CONNECTION_CLOSED -0x12
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| 118 |
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| 119 | /* Internal using */
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| 120 | #define MSG_LENGTH_UNDEFINED -1
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| 121 |
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| 122 | typedef enum { RTU, TCP } type_com_t;
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| 123 | typedef enum { FLUSH_OR_RECONNECT_ON_ERROR, NOP_ON_ERROR } error_handling_t;
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| 124 |
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| 125 | /* This structure is byte-aligned */
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| 126 | typedef struct {
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| 127 | /* Descriptor (tty or socket) */
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| 128 | int fd;
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| 129 | /* Communication mode: RTU or TCP */
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| 130 | type_com_t type_com;
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| 131 | /* Flag debug */
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| 132 | int debug;
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| 133 | /* Header length used for offset */
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| 134 | int header_length;
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| 135 | /* Checksum length RTU = 2 and TCP = 0 */
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| 136 | int checksum_length;
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| 137 | /* TCP port */
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| 138 | int port;
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| 139 | /* Device: "/dev/ttyS0", "/dev/ttyUSB0" or "/dev/tty.USA19*"
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| 140 | on Mac OS X for KeySpan USB<->Serial adapters this string
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| 141 | had to be made bigger on OS X as the directory+file name
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| 142 | was bigger than 19 bytes. Making it 67 bytes for now, but
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| 143 | OS X does support 256 byte file names. May become a problem
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| 144 | in the future. */
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| 145 | #ifdef __APPLE_CC__
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| 146 | char device[64];
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| 147 | #else
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| 148 | char device[16];
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| 149 | #endif
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| 150 | /* Bauds: 9600, 19200, 57600, 115200, etc */
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| 151 | int baud;
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| 152 | /* Data bit */
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| 153 | uint8_t data_bit;
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| 154 | /* Stop bit */
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| 155 | uint8_t stop_bit;
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| 156 | /* Parity: "even", "odd", "none" */
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| 157 | char parity[5];
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| 158 | /* In error_treat with TCP, do a reconnect or just dump the error */
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| 159 | uint8_t error_handling;
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| 160 | /* IP address */
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| 161 | char ip[16];
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| 162 | /* Save old termios settings */
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| 163 | struct termios old_tios;
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| 164 | // Whether to save raw i/o data or not
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| 165 | int response_length;
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| 166 | // Raw input/output data
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| 167 | int saveRawData;
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| 168 | int rawQueryLength;
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| 169 | int rawResponseLength;
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| 170 | uint8_t rawQuery[MIN_QUERY_LENGTH+4];
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| 171 | uint8_t rawResponse[MAX_MESSAGE_LENGTH];
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| 172 | } modbus_param_t;
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| 173 |
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| 174 | typedef struct {
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| 175 | int nb_coil_status;
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| 176 | int nb_input_status;
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| 177 | int nb_input_registers;
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| 178 | int nb_holding_registers;
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| 179 | uint8_t *tab_coil_status;
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| 180 | uint8_t *tab_input_status;
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| 181 | uint16_t *tab_input_registers;
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| 182 | uint16_t *tab_holding_registers;
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| 183 | } modbus_mapping_t;
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| 184 |
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| 185 |
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| 186 | /* All functions used for sending or receiving data return:
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| 187 | - the numbers of values (bits or word) if success (0 or more)
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| 188 | - less than 0 for exceptions errors
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| 189 | */
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| 190 |
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| 191 | /* Reads the boolean status of coils and sets the array elements in
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| 192 | the destination to TRUE or FALSE */
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| 193 | int read_coil_status(modbus_param_t *mb_param, int slave,
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| 194 | int start_addr, int nb, uint8_t *dest);
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| 195 |
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| 196 | /* Same as read_coil_status but reads the slaves input table */
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| 197 | int read_input_status(modbus_param_t *mb_param, int slave,
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| 198 | int start_addr, int nb, uint8_t *dest);
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| 199 |
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| 200 | /* Reads the holding registers in a slave and put the data into an
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| 201 | array */
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| 202 | int read_holding_registers(modbus_param_t *mb_param, int slave,
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| 203 | int start_addr, int nb, uint16_t *dest);
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| 204 |
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| 205 | /* Reads the input registers in a slave and put the data into an
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| 206 | array */
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| 207 | int read_input_registers(modbus_param_t *mb_param, int slave,
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| 208 | int start_addr, int nb, uint16_t *dest);
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| 209 |
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| 210 | /* Turns ON or OFF a single coil in the slave device */
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| 211 | int force_single_coil(modbus_param_t *mb_param, int slave,
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| 212 | int coil_addr, int state);
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| 213 |
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| 214 | /* Sets a value in one holding register in the slave device */
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| 215 | int preset_single_register(modbus_param_t *mb_param, int slave,
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| 216 | int reg_addr, int value);
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| 217 |
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| 218 | /* Sets/resets the coils in the slave from an array in argument */
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| 219 | int force_multiple_coils(modbus_param_t *mb_param, int slave,
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| 220 | int start_addr, int nb, const uint8_t *data);
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| 221 |
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| 222 | /* Copies the values in the slave from the array given in argument */
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| 223 | int preset_multiple_registers(modbus_param_t *mb_param, int slave,
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| 224 | int start_addr, int nb, const uint16_t *data);
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| 225 |
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| 226 | /* Returns the slave id! */
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| 227 | int report_slave_id(modbus_param_t *mb_param, int slave, uint8_t *dest);
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| 228 |
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| 229 | /* Initializes the modbus_param_t structure for RTU.
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| 230 | - device: "/dev/ttyS0"
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| 231 | - baud: 9600, 19200, 57600, 115200, etc
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| 232 | - parity: "even", "odd" or "none"
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| 233 | - data_bits: 5, 6, 7, 8
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| 234 | - stop_bits: 1, 2
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| 235 | */
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| 236 | void modbus_init_rtu(modbus_param_t *mb_param, const char *device,
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| 237 | int baud, const char *parity, int data_bit,
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| 238 | int stop_bit);
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| 239 |
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| 240 | /* Initializes the modbus_param_t structure for TCP.
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| 241 | - ip : "192.168.0.5"
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| 242 | - port : 1099
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| 243 |
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| 244 | Set the port to MODBUS_TCP_DEFAULT_PORT to use the default one
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| 245 | (502). It's convenient to use a port number greater than or equal
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| 246 | to 1024 because it's not necessary to be root to use this port
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| 247 | number.
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| 248 | */
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| 249 | void modbus_init_tcp(modbus_param_t *mb_param, const char *ip_address, int port);
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| 250 |
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| 251 | /* By default, the error handling mode used is RECONNECT_ON_ERROR.
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| 252 |
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| 253 | With RECONNECT_ON_ERROR, the library will attempt an immediate
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| 254 | reconnection which may hang for several seconds if the network to
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| 255 | the remote target unit is down.
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| 256 |
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| 257 | With NOP_ON_ERROR, it is expected that the application will
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| 258 | check for network error returns and deal with them as necessary.
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| 259 |
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| 260 | This function is only useful in TCP mode.
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| 261 | */
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| 262 | void modbus_set_error_handling(modbus_param_t *mb_param, error_handling_t error_handling);
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| 263 |
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| 264 | /* Establishes a modbus connexion.
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| 265 | Returns -1 if an error occured. */
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| 266 | int modbus_connect(modbus_param_t *mb_param);
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| 267 |
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| 268 | /* Closes a modbus connection */
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| 269 | void modbus_close(modbus_param_t *mb_param);
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| 270 |
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| 271 | /* Activates the debug messages */
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| 272 | void modbus_set_debug(modbus_param_t *mb_param, int boolean);
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| 273 |
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| 274 | // Activates saving raw query and responses
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| 275 | void modbus_set_raw_data_save(modbus_param_t *mb_param, int boolean);
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| 276 |
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| 277 | // Returns a raw query
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| 278 | int modbus_last_raw_query(modbus_param_t *mb_param, uint8_t *rawQuery);
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| 279 |
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| 280 | // Returns a raw response
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| 281 | int modbus_last_raw_response(modbus_param_t *mb_param, uint8_t *rawResponse);
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| 282 |
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| 283 | int modbus_last_raw_query_length(modbus_param_t *mb_param);
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| 284 |
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| 285 | int modbus_last_raw_response_length(modbus_param_t *mb_param);
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| 286 |
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| 287 | /**
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| 288 | * SLAVE/CLIENT FUNCTIONS
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| 289 | **/
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| 290 |
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| 291 | /* Allocates 4 arrays to store coils, input status, input registers and
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| 292 | holding registers. The pointers are stored in modbus_mapping structure.
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| 293 |
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| 294 | Returns: TRUE if ok, FALSE on failure
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| 295 | */
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| 296 | int modbus_mapping_new(modbus_mapping_t *mb_mapping,
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| 297 | int nb_coil_status, int nb_input_status,
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| 298 | int nb_holding_registers, int nb_input_registers);
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| 299 |
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| 300 | /* Frees the 4 arrays */
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| 301 | void modbus_mapping_free(modbus_mapping_t *mb_mapping);
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| 302 |
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| 303 | /* Initializes the modbus_param_t structure for a TCP slave (server) */
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| 304 | int modbus_init_listen_tcp(modbus_param_t *mb_param);
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| 305 |
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| 306 | /* Listens for any query from a modbus master in TCP
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| 307 | Not tested in RTU communication. */
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| 308 | int modbus_listen(modbus_param_t *mb_param, uint8_t *query, int *query_length);
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| 309 |
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| 310 | /* Manages the received query.
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| 311 | Analyses the query and constructs a response.
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| 312 |
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| 313 | If an error occurs, this function construct the response
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| 314 | accordingly.
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| 315 | */
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| 316 | void modbus_manage_query(modbus_param_t *mb_param, const uint8_t *query,
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| 317 | int query_length, modbus_mapping_t *mb_mapping);
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| 318 |
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| 319 |
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| 320 | /**
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| 321 | * UTILS FUNCTIONS
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| 322 | **/
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| 323 |
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| 324 | /* Sets many input/coil status from a single byte value (all 8 bits of
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| 325 | the byte value are setted) */
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| 326 | void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value);
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| 327 |
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| 328 | /* Sets many input/coil status from a table of bytes (only the bits
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| 329 | between address and address + nb_bits are setted) */
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| 330 | void set_bits_from_bytes(uint8_t *dest, int address, int nb_bits,
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| 331 | const uint8_t *tab_byte);
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| 332 |
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| 333 | /* Gets the byte value from many input/coil status.
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| 334 | To obtain a full byte, set nb_bits to 8. */
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| 335 | uint8_t get_byte_from_bits(const uint8_t *src, int address, int nb_bits);
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| 336 |
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| 337 | #ifdef __cplusplus
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| 338 | }
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| 339 | #endif
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| 340 |
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| 341 | #endif /* _MODBUS_H_ */
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