modbus.h.in
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/*
* Copyright © 2001-2010 Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _MODBUS_H_
#define _MODBUS_H_
#ifdef HAVE_INTTYPES_H
#include <inttypes.h>
#endif
#ifdef HAVE_STDINT_H
#include <stdint.h>
#endif
#include <termios.h>
#if defined(__FreeBSD__ ) && __FreeBSD__ < 5
#include <netinet/in_systm.h>
#endif
#include <netinet/in.h>
#include <netinet/ip.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#ifdef __cplusplus
extern "C" {
#endif
#define MODBUS_TCP_DEFAULT_PORT 502
#define MODBUS_BROADCAST_ADDRESS 255
/* Slave index */
#define HEADER_LENGTH_RTU 1
#define PRESET_QUERY_LENGTH_RTU 6
#define PRESET_RESPONSE_LENGTH_RTU 2
#define HEADER_LENGTH_TCP 7
#define PRESET_QUERY_LENGTH_TCP 12
#define PRESET_RESPONSE_LENGTH_TCP 8
#define CHECKSUM_LENGTH_RTU 2
#define CHECKSUM_LENGTH_TCP 0
/* It's not really the minimal length (the real one is report slave ID
* in RTU (4 bytes)) but it's a convenient size to use in RTU or TCP
* communications to read many values or write a single one.
* Maximum between :
* - HEADER_LENGTH_TCP (7) + function (1) + address (2) + number (2)
* - HEADER_LENGTH_RTU (1) + function (1) + address (2) + number (2) + CRC (2)
*/
#define MIN_QUERY_LENGTH 12
/* Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5:
* - RS232 / RS485 ADU = 253 bytes + slave (1 byte) + CRC (2 bytes) = 256 bytes
* - TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes
*/
#define MAX_PDU_LENGTH 253
#define MAX_ADU_LENGTH_RTU 256
#define MAX_ADU_LENGTH_TCP 260
/* Kept for compatibility reasons (deprecated) */
#define MAX_MESSAGE_LENGTH 260
#define EXCEPTION_RESPONSE_LENGTH_RTU 5
/* Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 1 page 12)
* Quantity of Coils (2 bytes): 1 to 2000 (0x7D0)
*/
#define MAX_STATUS 2000
/* Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 3 page 15)
* Quantity of Registers (2 bytes): 1 to 125 (0x7D)
*/
#define MAX_REGISTERS 125
#define REPORT_SLAVE_ID_LENGTH 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
/* Random number to avoid errno conflicts */
#define MODBUS_ENOBASE 112345678
/* Protocol exceptions */
enum {
MODBUS_EXCEPTION_ILLEGAL_FUNCTION = 0x01,
MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS,
MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE,
MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE,
MODBUS_EXCEPTION_ACKNOWLEDGE,
MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY,
MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE,
MODBUS_EXCEPTION_MEMORY_PARITY,
MODBUS_EXCEPTION_NOT_DEFINED,
MODBUS_EXCEPTION_GATEWAY_PATH,
MODBUS_EXCEPTION_GATEWAY_TARGET,
MODBUS_EXCEPTION_MAX
};
#define EMBXILFUN (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_FUNCTION)
#define EMBXILADD (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS)
#define EMBXILVAL (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE)
#define EMBXSFAIL (MODBUS_ENOBASE + MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE)
#define EMBXACK (MODBUS_ENOBASE + MODBUS_EXCEPTION_ACKNOWLEDGE)
#define EMBXSBUSY (MODBUS_ENOBASE + MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY)
#define EMBXNACK (MODBUS_ENOBASE + MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE)
#define EMBXMEMPAR (MODBUS_ENOBASE + MODBUS_EXCEPTION_MEMORY_PARITY)
#define EMBXGPATH (MODBUS_ENOBASE + MODBUS_EXCEPTION_GATEWAY_PATH)
#define EMBXGTAR (MODBUS_ENOBASE + MODBUS_EXCEPTION_GATEWAY_TARGET)
/* Native libmodbus error codes */
#define EMBBADCRC (EMBXGTAR + 1)
#define EMBBADDATA (EMBXGTAR + 2)
#define EMBBADEXC (EMBXGTAR + 3)
#define EMBUNKEXC (EMBXGTAR + 4)
#define EMBMDATA (EMBXGTAR + 5)
/* Internal use */
#define MSG_LENGTH_UNDEFINED -1
/* The major version of libmb, (1, if %LIBMODBUS_VERSION is 1.2.3) */
#define LIBMODBUS_VERSION_MAJOR (@LIBMODBUS_VERSION_MAJOR@)
/* The minor version of libmb (2, if %LIBMODBUS_VERSION is 1.2.3) */
#define LIBMODBUS_VERSION_MINOR (@LIBMODBUS_VERSION_MINOR@)
/* The micro version of libmb (3, if %LIBMODBUS_VERSION is 1.2.3) */
#define LIBMODBUS_VERSION_MICRO (@LIBMODBUS_VERSION_MICRO@)
/* The full version of libmb, like 1.2.3 */
#define LIBMODBUS_VERSION @LIBMODBUS_VERSION@
/* The full version of libmb, in string form (suited for
* string concatenation)
*/
#define LIBMODBUS_VERSION_STRING "@LIBMODBUS_VERSION@"
/* Numerically encoded version libmb, like 0x010203 */
#define LIBMODBUS_VERSION_HEX ((LIBMODBUS_MAJOR_VERSION << 24) | \
(LIBMODBUS_MINOR_VERSION << 16) | \
(LIBMODBUS_MICRO_VERSION << 8))
/* Evaluates to True if the version of libmb is greater than @major, @minor and
* @micro
*/
#define LIBMODBUS_VERSION_CHECK(major,minor,micro) \
(LIBMODBUS_VERSION_MAJOR > (major) || \
(LIBMODBUS_VERSION_MAJOR == (major) && \
LIBMODBUS_VERSION_MINOR > (minor)) || \
(LIBMODBUS_VERSION_MAJOR == (major) && \
LIBMODBUS_VERSION_MINOR == (minor) && \
LIBMODBUS_VERSION_MICRO >= (micro)))
extern const unsigned int libmodbus_version_major;
extern const unsigned int libmodbus_version_minor;
extern const unsigned int libmodbus_version_micro;
typedef enum { RTU=0, TCP } type_com_t;
/* This structure is byte-aligned */
typedef struct {
/* Slave address */
int slave;
/* Descriptor (tty or socket) */
int fd;
/* Communication mode: RTU or TCP */
type_com_t type_com;
/* Flag debug */
int debug;
/* TCP port */
int port;
/* Device: "/dev/ttyS0", "/dev/ttyUSB0" or "/dev/tty.USA19*"
on Mac OS X for KeySpan USB<->Serial adapters this string
had to be made bigger on OS X as the directory+file name
was bigger than 19 bytes. Making it 67 bytes for now, but
OS X does support 256 byte file names. May become a problem
in the future. */
#ifdef __APPLE_CC__
char device[64];
#else
char device[16];
#endif
/* Bauds: 9600, 19200, 57600, 115200, etc */
int baud;
/* Data bit */
uint8_t data_bit;
/* Stop bit */
uint8_t stop_bit;
/* Parity: "even", "odd", "none" */
char parity[5];
/* In error_treat with TCP, do a reconnect or just dump the error */
uint8_t error_recovery;
/* IP address */
char ip[16];
/* Save old termios settings */
struct termios old_tios;
} modbus_param_t;
typedef struct {
int nb_coil_status;
int nb_input_status;
int nb_input_registers;
int nb_holding_registers;
uint8_t *tab_coil_status;
uint8_t *tab_input_status;
uint16_t *tab_input_registers;
uint16_t *tab_holding_registers;
} modbus_mapping_t;
void modbus_init_rtu(modbus_param_t *mb_param, const char *device,
int baud, const char *parity, int data_bit,
int stop_bit, int slave);
void modbus_init_tcp(modbus_param_t *mb_param, const char *ip_address, int port,
int slave);
void modbus_set_slave(modbus_param_t *mb_param, int slave);
int modbus_set_error_recovery(modbus_param_t *mb_param, int enabled);
int modbus_connect(modbus_param_t *mb_param);
void modbus_close(modbus_param_t *mb_param);
int modbus_flush(modbus_param_t *mb_param);
void modbus_set_debug(modbus_param_t *mb_param, int boolean);
const char *modbus_strerror(int errnum);
int read_coil_status(modbus_param_t *mb_param, int start_addr, int nb,
uint8_t *dest);
int read_input_status(modbus_param_t *mb_param, int start_addr, int nb,
uint8_t *dest);
int read_holding_registers(modbus_param_t *mb_param, int start_addr, int nb,
uint16_t *dest);
int read_input_registers(modbus_param_t *mb_param, int start_addr, int nb,
uint16_t *dest);
int force_single_coil(modbus_param_t *mb_param, int coil_addr, int state);
int preset_single_register(modbus_param_t *mb_param, int reg_addr, int value);
int force_multiple_coils(modbus_param_t *mb_param, int start_addr, int nb,
const uint8_t *data);
int preset_multiple_registers(modbus_param_t *mb_param, int start_addr, int nb,
const uint16_t *data);
int report_slave_id(modbus_param_t *mb_param, uint8_t *dest);
int modbus_mapping_new(modbus_mapping_t *mb_mapping,
int nb_coil_status, int nb_input_status,
int nb_holding_registers, int nb_input_registers);
void modbus_mapping_free(modbus_mapping_t *mb_mapping);
int modbus_slave_listen_tcp(modbus_param_t *mb_param, int nb_connection);
int modbus_slave_accept_tcp(modbus_param_t *mb_param, int *socket);
int modbus_slave_receive(modbus_param_t *mb_param, int sockfd, uint8_t *query);
int modbus_slave_manage(modbus_param_t *mb_param, const uint8_t *query,
int query_length, modbus_mapping_t *mb_mapping);
void modbus_slave_close_tcp(int socket);
/**
* UTILS FUNCTIONS
**/
void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value);
void set_bits_from_bytes(uint8_t *dest, int address, unsigned int nb_bits,
const uint8_t *tab_byte);
uint8_t get_byte_from_bits(const uint8_t *src, int address, unsigned int nb_bits);
float modbus_read_float(const uint16_t *src);
void modbus_write_float(float real, uint16_t *dest);
#ifdef __cplusplus
}
#endif
#endif /* _MODBUS_H_ */