modbus.h
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/*
Copyright (C) 2001-2007 Stéphane Raimbault <stephane.raimbault@gmail.com>
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
These library of functions are designed to enable a program send and
receive data from a device that communicates using the Modbus protocol.
*/
#ifndef _MODBUS_H_
#define _MODBUS_H_
#include <termios.h>
#include <arpa/inet.h>
#define MODBUS_TCP_PORT 502
#define HEADER_LENGTH_RTU 0
#define PRESET_QUERY_SIZE_RTU 6
#define PRESET_RESPONSE_SIZE_RTU 2
#define HEADER_LENGTH_TCP 6
#define PRESET_QUERY_SIZE_TCP 12
#define PRESET_RESPONSE_SIZE_TCP 8
#define CHECKSUM_SIZE_RTU 2
#define CHECKSUM_SIZE_TCP 0
/* 8 + HEADER_LENGTH_TCP */
#define MIN_QUERY_SIZE 14
/* MIN_RESPONSE_LENGTH + MAX(MAX*) */
#define MAX_PACKET_SIZE 261
#define MAX_READ_STATUS 800
#define MAX_READ_HOLD_REGS 100
#define MAX_READ_INPUT_REGS 100
#define MAX_WRITE_COILS 800
#define MAX_WRITE_REGS 100
#define REPORT_SLAVE_ID_SIZE 75
/* Time out between trames in microsecond */
#define TIME_OUT_BEGIN_OF_TRAME 500000
#define TIME_OUT_END_OF_TRAME 500000
#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif
#ifndef OFF
#define OFF 0
#endif
#ifndef ON
#define ON 1
#endif
/* Function codes */
#define FC_READ_COIL_STATUS 0x01 /* discretes inputs */
#define FC_READ_INPUT_STATUS 0x02 /* discretes outputs */
#define FC_READ_HOLDING_REGISTERS 0x03
#define FC_READ_INPUT_REGISTERS 0x04
#define FC_FORCE_SINGLE_COIL 0x05
#define FC_PRESET_SINGLE_REGISTER 0x06
#define FC_READ_EXCEPTION_STATUS 0x07
#define FC_FORCE_MULTIPLE_COILS 0x0F
#define FC_PRESET_MULTIPLE_REGISTERS 0x10
#define FC_REPORT_SLAVE_ID 0x11
/* Protocol exceptions */
#define ILLEGAL_FUNCTION -0x01
#define ILLEGAL_DATA_ADDRESS -0x02
#define ILLEGAL_DATA_VALUE -0x03
#define SLAVE_DEVICE_FAILURE -0x04
#define SERVER_FAILURE -0x04
#define ACKNOWLEDGE -0x05
#define SLAVE_DEVICE_BUSY -0x06
#define SERVER_BUSY -0x06
#define NEGATIVE_ACKNOWLEDGE -0x07
#define MEMORY_PARITY_ERROR -0x08
#define GATEWAY_PROBLEM_PATH -0x0A
#define GATEWAY_PROBLEM_TARGET -0x0B
/* Local */
#define COMM_TIME_OUT -0x0C
#define PORT_SOCKET_FAILURE -0x0D
#define SELECT_FAILURE -0x0E
#define TOO_MANY_DATAS -0x0F
#define INVALID_CRC -0x10
#define INVALID_EXCEPTION_CODE -0x11
/* Internal using */
#define MSG_SIZE_UNDEFINED -1
typedef enum { RTU, TCP } type_com_t;
typedef struct {
/* Communication : RTU or TCP */
type_com_t type_com;
/* Device: "/dev/ttyS0" or "/dev/ttyUSB0" */
char device[19];
/* Parity: "even", "odd", "none" */
char parity[5];
/* Bauds: 19200 */
int baud_i;
/* Data bit */
int data_bit;
/* Stop bit */
int stop_bit;
/* Save old termios settings */
struct termios old_tios;
/* Descriptor (tty or socket) */
int fd;
/* Flag debug */
int debug;
/* IP address */
char ip[16];
/* Header length used for offset */
int header_length;
/* Checksum size RTU = 2 and TCP = 0 */
int checksum_size;
} modbus_param_t;
typedef struct {
int nb_coil_status;
int nb_input_status;
int nb_input_registers;
int nb_holding_registers;
unsigned char *tab_coil_status;
unsigned char *tab_input_status;
unsigned short *tab_input_registers;
unsigned short *tab_holding_registers;
} modbus_mapping_t;
/* All functions used for sending or receiving data return :
- the numbers of values (bits or word) if success (0 or more)
- less than 0 for exceptions errors
*/
/* Reads the boolean status of coils and sets the array elements in
the destination to TRUE or FALSE */
int read_coil_status(modbus_param_t *mb_param, int slave,
int start_addr, int count, int *dest);
/* Same as read_coil_status but reads the slaves input table */
int read_input_status(modbus_param_t *mb_param, int slave,
int start_addr, int count, int *dest);
/* Reads the holding registers in a slave and put the data into an
array */
int read_holding_registers(modbus_param_t *mb_param, int slave,
int start_addr, int count, int *dest);
/* Reads the input registers in a slave and put the data into an
array */
int read_input_registers(modbus_param_t *mb_param, int slave,
int start_addr, int count, int *dest);
/* Turns on or off a single coil on the slave device */
int force_single_coil(modbus_param_t *mb_param, int slave,
int coil_addr, int state);
/* Sets a value in one holding register in the slave device */
int preset_single_register(modbus_param_t *mb_param, int slave,
int reg_addr, int value);
/* Takes an array of ints and sets or resets the coils on a slave
appropriatly */
int force_multiple_coils(modbus_param_t *mb_param, int slave,
int start_addr, int coil_count, int *data);
/* Copy the values in an array to an array on the slave */
int preset_multiple_registers(modbus_param_t *mb_param, int slave,
int start_addr, int reg_count, int *data);
/* Returns some useful information about the modbus controller */
int report_slave_id(modbus_param_t *mb_param, int slave,
unsigned char *dest);
/* Initialises a parameters structure
- device : "/dev/ttyS0"
- baud : 19200
- parity : "even", "odd" or "none"
- data_bits : 5, 6, 7, 8
- stop_bits : 1, 2
*/
void modbus_init_rtu(modbus_param_t *mb_param, char *device,
int baud, char *parity, int data_bit,
int stop_bit);
/* Initialises a parameters structure for TCP
- ip : "192.168.0.5" */
void modbus_init_tcp(modbus_param_t *mb_param, char *ip_address);
/* Sets up a serial port for RTU communications to modbus or a TCP
connexion */
int modbus_connect(modbus_param_t *mb_param);
/* Closes the serial port and restores the previous port configuration
or close the TCP connexion */
void modbus_close(modbus_param_t *mb_param);
/* Sets debug mode */
void modbus_set_debug(modbus_param_t *mb_param, int boolean);
/* Slave/client functions */
int modbus_mapping_new(modbus_mapping_t *mb_mapping,
int nb_coil_status, int nb_input_status,
int nb_input_registers, int nb_holding_registers);
void modbus_mapping_free(modbus_mapping_t *mb_mapping);
int modbus_init_listen_tcp(modbus_param_t *mb_param);
int modbus_listen(modbus_param_t *mb_param, unsigned char *query, int *query_size);
void manage_query(modbus_param_t *mb_param, unsigned char *query,
int query_size, modbus_mapping_t *mb_mapping);
/* Not implemented :
- read_exception_status()
*/
#endif /* _MODBUS_H_ */