From df0cf7927249954f15e0aa85b02d21b990fa9af9 Mon Sep 17 00:00:00 2001 From: Stéphane Raimbault Date: Fri, 2 Apr 2010 12:53:03 +0200 Subject: [PATCH] Rename src to modbus --- ChangeLog | 0 Makefile.am | 2 +- modbus/Makefile.am | 10 ++++++++++ modbus/modbus.c | 2007 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modbus/modbus.h | 373 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ src/Makefile.am | 10 ---------- src/modbus.c | 2007 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src/modbus.h | 373 ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- tests/Makefile.am | 4 ++-- tests/bandwidth-master.c | 4 ++-- tests/bandwidth-slave-many-up.c | 4 ++-- tests/bandwidth-slave-one.c | 4 ++-- tests/random-test-master.c | 4 ++-- tests/random-test-slave.c | 4 ++-- tests/unit-test-master.c | 4 ++-- tests/unit-test-slave.c | 4 ++-- 16 files changed, 2407 insertions(+), 2407 deletions(-) delete mode 100644 ChangeLog create mode 100644 modbus/Makefile.am create mode 100644 modbus/modbus.c create mode 100644 modbus/modbus.h delete mode 100644 src/Makefile.am delete mode 100644 src/modbus.c delete mode 100644 src/modbus.h diff --git a/ChangeLog b/ChangeLog deleted file mode 100644 index e69de29..0000000 --- a/ChangeLog +++ /dev/null diff --git a/Makefile.am b/Makefile.am index e5a2d6c..99c2a71 100644 --- a/Makefile.am +++ b/Makefile.am @@ -1,5 +1,5 @@ EXTRA_DIST = MIGRATION libmodbus.spec -SUBDIRS = src tests +SUBDIRS = modbus tests pkgconfigdir = $(libdir)/pkgconfig pkgconfig_DATA = modbus.pc diff --git a/modbus/Makefile.am b/modbus/Makefile.am new file mode 100644 index 0000000..60fa7aa --- /dev/null +++ b/modbus/Makefile.am @@ -0,0 +1,10 @@ +lib_LTLIBRARIES = libmodbus.la +libmodbus_la_SOURCES = modbus.c modbus.h +libmodbus_la_LDFLAGS = -version-info 2:0:0 +service_CFLAGS = -I$(top_srcdir)/ + +# Include files to install +libmodbusincludedir = $(includedir)/modbus +libmodbusinclude_HEADERS = modbus.h + +CLEANFILES = *~ diff --git a/modbus/modbus.c b/modbus/modbus.c new file mode 100644 index 0000000..28ff67e --- /dev/null +++ b/modbus/modbus.c @@ -0,0 +1,2007 @@ +/* + * Copyright © 2001-2010 Stéphane Raimbault + * + * 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 . + */ + +/* + The library is designed to send and receive data from a device that + communicate via the Modbus protocol. + + The function names used are inspired by the Modicon Modbus Protocol + Reference Guide which can be obtained from Schneider at + www.schneiderautomation.com. + + Documentation: + http://www.easysw.com/~mike/serial/serial.html + http://copyleft.free.fr/wordpress/index.php/libmodbus/ +*/ + +#include +#include +#include +#ifdef HAVE_INTTYPES_H +#include +#endif +#ifdef HAVE_STDINT_H +#include +#endif +#include +#include +#include +#include +#include +#include + +/* TCP */ +#include +#include +#include +#if defined(__FreeBSD__ ) && __FreeBSD__ < 5 +#include +#endif +#include +#include +#include +#include + +#if !defined(UINT16_MAX) +#define UINT16_MAX 0xFFFF +#endif + +#include +#include + +#define UNKNOWN_ERROR_MSG "Not defined in modbus specification" + +/* This structure reduces the number of params in functions and so + * optimizes the speed of execution (~ 37%). */ +typedef struct { + int slave; + int function; + int t_id; +} sft_t; + +static const uint8_t NB_TAB_ERROR_MSG = 12; +static const char *TAB_ERROR_MSG[] = { + /* 0x00 */ UNKNOWN_ERROR_MSG, + /* 0x01 */ "Illegal function code", + /* 0x02 */ "Illegal data address", + /* 0x03 */ "Illegal data value", + /* 0x04 */ "Slave device or server failure", + /* 0x05 */ "Acknowledge", + /* 0x06 */ "Slave device or server busy", + /* 0x07 */ "Negative acknowledge", + /* 0x08 */ "Memory parity error", + /* 0x09 */ UNKNOWN_ERROR_MSG, + /* 0x0A */ "Gateway path unavailable", + /* 0x0B */ "Target device failed to respond" +}; + +/* Table of CRC values for high-order byte */ +static uint8_t table_crc_hi[] = { + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, + 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, + 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, + 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, + 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 +}; + +/* Table of CRC values for low-order byte */ +static uint8_t table_crc_lo[] = { + 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, + 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, + 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, + 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, + 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, + 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, + 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, + 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, + 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, + 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, + 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, + 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, + 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, + 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, + 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, + 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, + 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, + 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, + 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, + 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, + 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, + 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, + 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, + 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, + 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, + 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 +}; + +static const int TAB_HEADER_LENGTH[2] = { + HEADER_LENGTH_RTU, + HEADER_LENGTH_TCP +}; + +static const int TAB_CHECKSUM_LENGTH[2] = { + CHECKSUM_LENGTH_RTU, + CHECKSUM_LENGTH_TCP +}; + +static const int TAB_MAX_ADU_LENGTH[2] = { + MAX_ADU_LENGTH_RTU, + MAX_ADU_LENGTH_TCP, +}; + +/* Treats errors and flush or close connection if necessary */ +static void error_treat(modbus_param_t *mb_param, int code, const char *string) +{ + printf("\nERROR %s (%0X)\n", string, -code); + + if (mb_param->error_handling == FLUSH_OR_CONNECT_ON_ERROR) { + switch (code) { + case INVALID_DATA: + case INVALID_CRC: + case INVALID_EXCEPTION_CODE: + modbus_flush(mb_param); + break; + case SELECT_FAILURE: + case SOCKET_FAILURE: + case CONNECTION_CLOSED: + modbus_close(mb_param); + modbus_connect(mb_param); + break; + default: + /* NOP */ + break; + } + } +} + +void modbus_flush(modbus_param_t *mb_param) +{ + if (mb_param->type_com == RTU) { + tcflush(mb_param->fd, TCIOFLUSH); + } else { + int ret; + do { + /* Extract the garbage from the socket */ + char devnull[MAX_ADU_LENGTH_TCP]; +#if (!HAVE_DECL___CYGWIN__) + ret = recv(mb_param->fd, devnull, MAX_ADU_LENGTH_TCP, MSG_DONTWAIT); +#else + /* On Cygwin, it's a bit more complicated to not wait */ + fd_set rfds; + struct timeval tv; + + tv.tv_sec = 0; + tv.tv_usec = 0; + FD_ZERO(&rfds); + FD_SET(mb_param->fd, &rfds); + ret = select(mb_param->fd+1, &rfds, NULL, NULL, &tv); + if (ret > 0) { + ret = recv(mb_param->fd, devnull, MAX_ADU_LENGTH_TCP, 0); + } else if (ret == -1) { + /* error_treat() doesn't call modbus_flush() in + this case (avoid infinite loop) */ + error_treat(mb_param, SELECT_FAILURE, "Select failure"); + } +#endif + if (mb_param->debug && ret > 0) { + printf("%d bytes flushed\n", ret); + } + } while (ret > 0); + } +} + +/* Computes the length of the expected response */ +static unsigned int compute_response_length(modbus_param_t *mb_param, + uint8_t *query) +{ + int length; + int offset; + + offset = TAB_HEADER_LENGTH[mb_param->type_com]; + + switch (query[offset]) { + case FC_READ_COIL_STATUS: + case FC_READ_INPUT_STATUS: { + /* Header + nb values (code from force_multiple_coils) */ + int nb = (query[offset + 3] << 8) | query[offset + 4]; + length = 2 + (nb / 8) + ((nb % 8) ? 1 : 0); + } + break; + case FC_READ_HOLDING_REGISTERS: + case FC_READ_INPUT_REGISTERS: + /* Header + 2 * nb values */ + length = 2 + 2 * (query[offset + 3] << 8 | + query[offset + 4]); + break; + case FC_READ_EXCEPTION_STATUS: + length = 3; + break; + case FC_REPORT_SLAVE_ID: + /* The response is device specific (the header provides the + length) */ + return MSG_LENGTH_UNDEFINED; + default: + length = 5; + } + + return length + offset + TAB_CHECKSUM_LENGTH[mb_param->type_com]; +} + +/* Builds a RTU query header */ +static int build_query_basis_rtu(int slave, int function, + int start_addr, int nb, + uint8_t *query) +{ + query[0] = slave; + query[1] = function; + query[2] = start_addr >> 8; + query[3] = start_addr & 0x00ff; + query[4] = nb >> 8; + query[5] = nb & 0x00ff; + + return PRESET_QUERY_LENGTH_RTU; +} + +/* Builds a TCP query header */ +static int build_query_basis_tcp(int slave, int function, + int start_addr, int nb, + uint8_t *query) +{ + + /* Extract from MODBUS Messaging on TCP/IP Implementation + Guide V1.0b (page 23/46): + The transaction identifier is used to associate the future + response with the request. So, at a time, on a TCP + connection, this identifier must be unique. + */ + static uint16_t t_id = 0; + + /* Transaction ID */ + if (t_id < UINT16_MAX) + t_id++; + else + t_id = 0; + query[0] = t_id >> 8; + query[1] = t_id & 0x00ff; + + /* Protocol Modbus */ + query[2] = 0; + query[3] = 0; + + /* Length will be defined later by set_query_length_tcp at offsets 4 + * and 5 */ + + query[6] = slave; + query[7] = function; + query[8] = start_addr >> 8; + query[9] = start_addr & 0x00ff; + query[10] = nb >> 8; + query[11] = nb & 0x00ff; + + return PRESET_QUERY_LENGTH_TCP; +} + +static int build_query_basis(modbus_param_t *mb_param, + int function, int start_addr, + int nb, uint8_t *query) +{ + if (mb_param->type_com == RTU) + return build_query_basis_rtu(mb_param->slave, function, + start_addr, nb, query); + else + return build_query_basis_tcp(mb_param->slave, function, + start_addr, nb, query); +} + +/* Builds a RTU response header */ +static int build_response_basis_rtu(sft_t *sft, uint8_t *response) +{ + response[0] = sft->slave; + response[1] = sft->function; + + return PRESET_RESPONSE_LENGTH_RTU; +} + +/* Builds a TCP response header */ +static int build_response_basis_tcp(sft_t *sft, uint8_t *response) +{ + /* Extract from MODBUS Messaging on TCP/IP Implementation + Guide V1.0b (page 23/46): + The transaction identifier is used to associate the future + response with the request. */ + response[0] = sft->t_id >> 8; + response[1] = sft->t_id & 0x00ff; + + /* Protocol Modbus */ + response[2] = 0; + response[3] = 0; + + /* Length to fix later with set_message_length_tcp (4 and 5) */ + + response[6] = sft->slave; + response[7] = sft->function; + + return PRESET_RESPONSE_LENGTH_TCP; +} + +static int build_response_basis(modbus_param_t *mb_param, sft_t *sft, + uint8_t *response) +{ + if (mb_param->type_com == RTU) + return build_response_basis_rtu(sft, response); + else + return build_response_basis_tcp(sft, response); +} + +/* Sets the length of TCP message in the message (query and response) */ +void set_message_length_tcp(uint8_t *msg, int msg_length) +{ + /* Substract the header length to the message length */ + int mbap_length = msg_length - 6; + + msg[4] = mbap_length >> 8; + msg[5] = mbap_length & 0x00FF; +} + +/* Fast CRC */ +static uint16_t crc16(uint8_t *buffer, uint16_t buffer_length) +{ + uint8_t crc_hi = 0xFF; /* high CRC byte initialized */ + uint8_t crc_lo = 0xFF; /* low CRC byte initialized */ + unsigned int i; /* will index into CRC lookup */ + + /* pass through message buffer */ + while (buffer_length--) { + i = crc_hi ^ *buffer++; /* calculate the CRC */ + crc_hi = crc_lo ^ table_crc_hi[i]; + crc_lo = table_crc_lo[i]; + } + + return (crc_hi << 8 | crc_lo); +} + +/* If CRC is correct returns msg_length else returns INVALID_CRC */ +static int check_crc16(modbus_param_t *mb_param, + uint8_t *msg, + const int msg_length) +{ + int ret; + uint16_t crc_calc; + uint16_t crc_received; + + crc_calc = crc16(msg, msg_length - 2); + crc_received = (msg[msg_length - 2] << 8) | msg[msg_length - 1]; + + /* Check CRC of msg */ + if (crc_calc == crc_received) { + ret = msg_length; + } else { + char s_error[64]; + sprintf(s_error, + "invalid crc received %0X - crc_calc %0X", + crc_received, crc_calc); + ret = INVALID_CRC; + error_treat(mb_param, ret, s_error); + } + + return ret; +} + +/* Sends a query/response over a serial or a TCP communication */ +static int modbus_send(modbus_param_t *mb_param, uint8_t *query, + int query_length) +{ + int ret; + uint16_t s_crc; + int i; + + if (mb_param->type_com == RTU) { + s_crc = crc16(query, query_length); + query[query_length++] = s_crc >> 8; + query[query_length++] = s_crc & 0x00FF; + } else { + set_message_length_tcp(query, query_length); + } + + if (mb_param->debug) { + for (i = 0; i < query_length; i++) + printf("[%.2X]", query[i]); + printf("\n"); + } + + if (mb_param->type_com == RTU) + ret = write(mb_param->fd, query, query_length); + else + ret = send(mb_param->fd, query, query_length, MSG_NOSIGNAL); + + /* Return the number of bytes written (0 to n) + or SOCKET_FAILURE on error */ + if ((ret == -1) || (ret != query_length)) { + ret = SOCKET_FAILURE; + error_treat(mb_param, ret, "Write socket failure"); + } + + return ret; +} + +/* Computes the length of the header following the function code */ +static uint8_t compute_query_length_header(int function) +{ + int length; + + if (function <= FC_FORCE_SINGLE_COIL || + function == FC_PRESET_SINGLE_REGISTER) + /* Read and single write */ + length = 4; + else if (function == FC_FORCE_MULTIPLE_COILS || + function == FC_PRESET_MULTIPLE_REGISTERS) + /* Multiple write */ + length = 5; + else if (function == FC_REPORT_SLAVE_ID) + length = 1; + else + length = 0; + + return length; +} + +/* Computes the length of the data to write in the query */ +static int compute_query_length_data(modbus_param_t *mb_param, uint8_t *msg) +{ + int function = msg[TAB_HEADER_LENGTH[mb_param->type_com]]; + int length; + + if (function == FC_FORCE_MULTIPLE_COILS || + function == FC_PRESET_MULTIPLE_REGISTERS) + length = msg[TAB_HEADER_LENGTH[mb_param->type_com] + 5]; + else if (function == FC_REPORT_SLAVE_ID) + length = msg[TAB_HEADER_LENGTH[mb_param->type_com] + 1]; + else + length = 0; + + length += TAB_CHECKSUM_LENGTH[mb_param->type_com]; + + return length; +} + +#define WAIT_DATA() \ +{ \ + while ((select_ret = select(mb_param->fd+1, &rfds, NULL, NULL, &tv)) == -1) { \ + if (errno == EINTR) { \ + printf("A non blocked signal was caught\n"); \ + /* Necessary after an error */ \ + FD_ZERO(&rfds); \ + FD_SET(mb_param->fd, &rfds); \ + } else { \ + error_treat(mb_param, SELECT_FAILURE, "Select failure"); \ + return SELECT_FAILURE; \ + } \ + } \ + \ + if (select_ret == 0) { \ + /* Timeout */ \ + if (msg_length == (TAB_HEADER_LENGTH[mb_param->type_com] + 2 + \ + TAB_CHECKSUM_LENGTH[mb_param->type_com])) { \ + /* Optimization allowed because exception response is \ + the smallest trame in modbus protocol (3) so always \ + raise a timeout error */ \ + return MB_EXCEPTION; \ + } else { \ + /* Call to error_treat is done later to manage exceptions */ \ + return SELECT_TIMEOUT; \ + } \ + } \ +} + +/* Waits a reply from a modbus slave or a query from a modbus master. + This function blocks if there is no replies (3 timeouts). + + In + - msg_length_computed must be set to MSG_LENGTH_UNDEFINED if undefined + + Out + - msg is an array of uint8_t to receive the message + + On success, return the number of received characters. On error, return + a negative value. +*/ +static int receive_msg(modbus_param_t *mb_param, + int msg_length_computed, + uint8_t *msg) +{ + int select_ret; + int read_ret; + fd_set rfds; + struct timeval tv; + int length_to_read; + uint8_t *p_msg; + enum { FUNCTION, BYTE, COMPLETE }; + int state; + + int msg_length = 0; + + if (mb_param->debug) { + if (msg_length_computed == MSG_LENGTH_UNDEFINED) + printf("Waiting for a message...\n"); + else + printf("Waiting for a message (%d bytes)...\n", + msg_length_computed); + } + + /* Add a file descriptor to the set */ + FD_ZERO(&rfds); + FD_SET(mb_param->fd, &rfds); + + if (msg_length_computed == MSG_LENGTH_UNDEFINED) { + /* Wait for a message */ + tv.tv_sec = 60; + tv.tv_usec = 0; + + /* The message length is undefined (query receiving) so + * we need to analyse the message step by step. + * At the first step, we want to reach the function + * code because all packets have that information. */ + state = FUNCTION; + msg_length_computed = TAB_HEADER_LENGTH[mb_param->type_com] + 1; + } else { + tv.tv_sec = 0; + tv.tv_usec = TIME_OUT_BEGIN_OF_TRAME; + state = COMPLETE; + } + + length_to_read = msg_length_computed; + + select_ret = 0; + WAIT_DATA(); + + p_msg = msg; + while (select_ret) { + if (mb_param->type_com == RTU) + read_ret = read(mb_param->fd, p_msg, length_to_read); + else + read_ret = recv(mb_param->fd, p_msg, length_to_read, 0); + + if (read_ret == 0) { + return CONNECTION_CLOSED; + } else if (read_ret < 0) { + /* The only negative possible value is -1 */ + error_treat(mb_param, SOCKET_FAILURE, + "Read socket failure"); + return SOCKET_FAILURE; + } + + /* Sums bytes received */ + msg_length += read_ret; + + /* Display the hex code of each character received */ + if (mb_param->debug) { + int i; + for (i=0; i < read_ret; i++) + printf("<%.2X>", p_msg[i]); + } + + if (msg_length < msg_length_computed) { + /* Message incomplete */ + length_to_read = msg_length_computed - msg_length; + } else { + switch (state) { + case FUNCTION: + /* Function code position */ + length_to_read = compute_query_length_header( + msg[TAB_HEADER_LENGTH[mb_param->type_com]]); + msg_length_computed += length_to_read; + /* It's useless to check the value of + msg_length_computed in this case (only + defined values are used). */ + state = BYTE; + break; + case BYTE: + length_to_read = compute_query_length_data(mb_param, msg); + msg_length_computed += length_to_read; + if (msg_length_computed > TAB_MAX_ADU_LENGTH[mb_param->type_com]) { + error_treat(mb_param, INVALID_DATA, "Too many data"); + return INVALID_DATA; + } + state = COMPLETE; + break; + case COMPLETE: + length_to_read = 0; + break; + } + } + + /* Moves the pointer to receive other data */ + p_msg = &(p_msg[read_ret]); + + if (length_to_read > 0) { + /* If no character at the buffer wait + TIME_OUT_END_OF_TRAME before to generate an error. */ + tv.tv_sec = 0; + tv.tv_usec = TIME_OUT_END_OF_TRAME; + + WAIT_DATA(); + } else { + /* All chars are received */ + select_ret = FALSE; + } + } + + if (mb_param->debug) + printf("\n"); + + if (mb_param->type_com == RTU) { + /* Returns msg_length on success and a negative value on + failure */ + return check_crc16(mb_param, msg, msg_length); + } else { + /* OK */ + return msg_length; + } +} + +/* Listens for any query from a modbus master in TCP, requires the socket file + descriptor etablished with the master device in argument or -1 to use the + internal one of modbus_param_t. + + Returns: + - byte length of the message on success, or a negative error number if the + request fails + - query, message received +*/ +int modbus_slave_receive(modbus_param_t *mb_param, int sockfd, uint8_t *query) +{ + if (sockfd != -1) { + mb_param->fd = sockfd; + } + + /* The length of the query to receive isn't known. */ + return receive_msg(mb_param, MSG_LENGTH_UNDEFINED, query); +} + +/* Receives the response and checks values (and checksum in RTU). + + Returns: + - the number of values (bits or words) if success or the response + length if no value is returned + - less than 0 for exception errors + + Note: all functions used to send or receive data with modbus return + these values. */ +static int modbus_receive(modbus_param_t *mb_param, + uint8_t *query, + uint8_t *response) +{ + int ret; + int response_length_computed; + int offset = TAB_HEADER_LENGTH[mb_param->type_com]; + + response_length_computed = compute_response_length(mb_param, query); + ret = receive_msg(mb_param, response_length_computed, response); + if (ret >= 0) { + /* GOOD RESPONSE */ + int query_nb_value; + int response_nb_value; + + /* The number of values is returned if it's corresponding + * to the query */ + switch (response[offset]) { + case FC_READ_COIL_STATUS: + case FC_READ_INPUT_STATUS: + /* Read functions, 8 values in a byte (nb + * of values in the query and byte count in + * the response. */ + query_nb_value = (query[offset + 3] << 8) + query[offset + 4]; + query_nb_value = (query_nb_value / 8) + ((query_nb_value % 8) ? 1 : 0); + response_nb_value = response[offset + 1]; + break; + case FC_READ_HOLDING_REGISTERS: + case FC_READ_INPUT_REGISTERS: + /* Read functions 1 value = 2 bytes */ + query_nb_value = (query[offset + 3] << 8) + query[offset + 4]; + response_nb_value = (response[offset + 1] / 2); + break; + case FC_FORCE_MULTIPLE_COILS: + case FC_PRESET_MULTIPLE_REGISTERS: + /* N Write functions */ + query_nb_value = (query[offset + 3] << 8) + query[offset + 4]; + response_nb_value = (response[offset + 3] << 8) | response[offset + 4]; + break; + case FC_REPORT_SLAVE_ID: + /* Report slave ID (bytes received) */ + query_nb_value = response_nb_value = ret; + break; + default: + /* 1 Write functions & others */ + query_nb_value = response_nb_value = 1; + } + + if (query_nb_value == response_nb_value) { + ret = response_nb_value; + } else { + char *s_error = malloc(64 * sizeof(char)); + sprintf(s_error, "Quantity not corresponding to the query (%d != %d)", + response_nb_value, query_nb_value); + ret = INVALID_DATA; + error_treat(mb_param, ret, s_error); + free(s_error); + } + } else if (ret == MB_EXCEPTION) { + /* EXCEPTION CODE RECEIVED */ + + /* CRC must be checked here (not done in receive_msg) */ + if (mb_param->type_com == RTU) { + ret = check_crc16(mb_param, response, EXCEPTION_RESPONSE_LENGTH_RTU); + if (ret < 0) + return ret; + } + + /* Check for exception response. + 0x80 + function is stored in the exception + response. */ + if (0x80 + query[offset] == response[offset]) { + + int exception_code = response[offset + 1]; + // FIXME check test + if (exception_code < NB_TAB_ERROR_MSG) { + error_treat(mb_param, -exception_code, + TAB_ERROR_MSG[response[offset + 1]]); + /* RETURN THE EXCEPTION CODE */ + /* Modbus error code is negative */ + return -exception_code; + } else { + /* The chances are low to hit this + case but it can avoid a vicious + segfault */ + char *s_error = malloc(64 * sizeof(char)); + sprintf(s_error, + "Invalid exception code %d", + response[offset + 1]); + error_treat(mb_param, INVALID_EXCEPTION_CODE, + s_error); + free(s_error); + return INVALID_EXCEPTION_CODE; + } + } + } else { + /* Other errors */ + error_treat(mb_param, ret, "receive_msg"); + } + + return ret; +} + +static int response_io_status(int address, int nb, + uint8_t *tab_io_status, + uint8_t *response, int offset) +{ + int shift = 0; + int byte = 0; + int i; + + for (i = address; i < address+nb; i++) { + byte |= tab_io_status[i] << shift; + if (shift == 7) { + /* Byte is full */ + response[offset++] = byte; + byte = shift = 0; + } else { + shift++; + } + } + + if (shift != 0) + response[offset++] = byte; + + return offset; +} + +/* Build the exception response */ +static int response_exception(modbus_param_t *mb_param, sft_t *sft, + int exception_code, uint8_t *response) +{ + int response_length; + + sft->function = sft->function + 0x80; + response_length = build_response_basis(mb_param, sft, response); + + /* Positive exception code */ + response[response_length++] = -exception_code; + + return response_length; +} + +/* Manages the received query. + Analyses the query and constructs a response. + + If an error occurs, this function construct the response + accordingly. +*/ +void modbus_slave_manage(modbus_param_t *mb_param, const uint8_t *query, + int query_length, modbus_mapping_t *mb_mapping) +{ + int offset = TAB_HEADER_LENGTH[mb_param->type_com]; + int slave = query[offset - 1]; + int function = query[offset]; + uint16_t address = (query[offset + 1] << 8) + query[offset + 2]; + uint8_t response[MAX_MESSAGE_LENGTH]; + int resp_length = 0; + sft_t sft; + + if (slave != mb_param->slave && slave != MODBUS_BROADCAST_ADDRESS) { + // Ignores the query (not for me) + if (mb_param->debug) { + printf("Request for slave %d ignored (not %d)\n", + slave, mb_param->slave); + } + return; + } + + sft.slave = slave; + sft.function = function; + if (mb_param->type_com == TCP) { + sft.t_id = (query[0] << 8) + query[1]; + } else { + sft.t_id = 0; + query_length -= CHECKSUM_LENGTH_RTU; + } + + switch (function) { + case FC_READ_COIL_STATUS: { + int nb = (query[offset + 3] << 8) + query[offset + 4]; + + if ((address + nb) > mb_mapping->nb_coil_status) { + printf("Illegal data address %0X in read_coil_status\n", + address + nb); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_ADDRESS, response); + } else { + resp_length = build_response_basis(mb_param, &sft, response); + response[resp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0); + resp_length = response_io_status(address, nb, + mb_mapping->tab_coil_status, + response, resp_length); + } + } + break; + case FC_READ_INPUT_STATUS: { + /* Similar to coil status (but too much arguments to use a + * function) */ + int nb = (query[offset + 3] << 8) + query[offset + 4]; + + if ((address + nb) > mb_mapping->nb_input_status) { + printf("Illegal data address %0X in read_input_status\n", + address + nb); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_ADDRESS, response); + } else { + resp_length = build_response_basis(mb_param, &sft, response); + response[resp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0); + resp_length = response_io_status(address, nb, + mb_mapping->tab_input_status, + response, resp_length); + } + } + break; + case FC_READ_HOLDING_REGISTERS: { + int nb = (query[offset + 3] << 8) + query[offset + 4]; + + if ((address + nb) > mb_mapping->nb_holding_registers) { + printf("Illegal data address %0X in read_holding_registers\n", + address + nb); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_ADDRESS, response); + } else { + int i; + + resp_length = build_response_basis(mb_param, &sft, response); + response[resp_length++] = nb << 1; + for (i = address; i < address + nb; i++) { + response[resp_length++] = mb_mapping->tab_holding_registers[i] >> 8; + response[resp_length++] = mb_mapping->tab_holding_registers[i] & 0xFF; + } + } + } + break; + case FC_READ_INPUT_REGISTERS: { + /* Similar to holding registers (but too much arguments to use a + * function) */ + int nb = (query[offset + 3] << 8) + query[offset + 4]; + + if ((address + nb) > mb_mapping->nb_input_registers) { + printf("Illegal data address %0X in read_input_registers\n", + address + nb); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_ADDRESS, response); + } else { + int i; + + resp_length = build_response_basis(mb_param, &sft, response); + response[resp_length++] = nb << 1; + for (i = address; i < address + nb; i++) { + response[resp_length++] = mb_mapping->tab_input_registers[i] >> 8; + response[resp_length++] = mb_mapping->tab_input_registers[i] & 0xFF; + } + } + } + break; + case FC_FORCE_SINGLE_COIL: + if (address >= mb_mapping->nb_coil_status) { + printf("Illegal data address %0X in force_singe_coil\n", address); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_ADDRESS, response); + } else { + int data = (query[offset + 3] << 8) + query[offset + 4]; + + if (data == 0xFF00 || data == 0x0) { + mb_mapping->tab_coil_status[address] = (data) ? ON : OFF; + + /* In RTU mode, the CRC is computed and added + to the query by modbus_send, the computed + CRC will be same and optimisation is + possible here (FIXME). */ + memcpy(response, query, query_length); + resp_length = query_length; + } else { + printf("Illegal data value %0X in force_single_coil request at address %0X\n", + data, address); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_VALUE, response); + } + } + break; + case FC_PRESET_SINGLE_REGISTER: + if (address >= mb_mapping->nb_holding_registers) { + printf("Illegal data address %0X in preset_holding_register\n", address); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_ADDRESS, response); + } else { + int data = (query[offset + 3] << 8) + query[offset + 4]; + + mb_mapping->tab_holding_registers[address] = data; + memcpy(response, query, query_length); + resp_length = query_length; + } + break; + case FC_FORCE_MULTIPLE_COILS: { + int nb = (query[offset + 3] << 8) + query[offset + 4]; + + if ((address + nb) > mb_mapping->nb_coil_status) { + printf("Illegal data address %0X in force_multiple_coils\n", + address + nb); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_ADDRESS, response); + } else { + /* 6 = byte count */ + set_bits_from_bytes(mb_mapping->tab_coil_status, address, nb, &query[offset + 6]); + + resp_length = build_response_basis(mb_param, &sft, response); + /* 4 to copy the coil address (2) and the quantity of coils */ + memcpy(response + resp_length, query + resp_length, 4); + resp_length += 4; + } + } + break; + case FC_PRESET_MULTIPLE_REGISTERS: { + int nb = (query[offset + 3] << 8) + query[offset + 4]; + + if ((address + nb) > mb_mapping->nb_holding_registers) { + printf("Illegal data address %0X in preset_multiple_registers\n", + address + nb); + resp_length = response_exception(mb_param, &sft, + ILLEGAL_DATA_ADDRESS, response); + } else { + int i, j; + for (i = address, j = 6; i < address + nb; i++, j += 2) { + /* 6 and 7 = first value */ + mb_mapping->tab_holding_registers[i] = + (query[offset + j] << 8) + query[offset + j + 1]; + } + + resp_length = build_response_basis(mb_param, &sft, response); + /* 4 to copy the address (2) and the no. of registers */ + memcpy(response + resp_length, query + resp_length, 4); + resp_length += 4; + } + } + break; + case FC_READ_EXCEPTION_STATUS: + case FC_REPORT_SLAVE_ID: + printf("Not implemented\n"); + break; + } + + modbus_send(mb_param, response, resp_length); +} + +/* Reads IO status */ +static int read_io_status(modbus_param_t *mb_param, int function, + int start_addr, int nb, uint8_t *data_dest) +{ + int ret; + int query_length; + + uint8_t query[MIN_QUERY_LENGTH]; + uint8_t response[MAX_MESSAGE_LENGTH]; + + query_length = build_query_basis(mb_param, function, + start_addr, nb, query); + + ret = modbus_send(mb_param, query, query_length); + if (ret > 0) { + int i, temp, bit; + int pos = 0; + int offset; + int offset_end; + + ret = modbus_receive(mb_param, query, response); + if (ret < 0) + return ret; + + offset = TAB_HEADER_LENGTH[mb_param->type_com]; + offset_end = offset + ret; + for (i = offset; i < offset_end; i++) { + /* Shift reg hi_byte to temp */ + temp = response[i + 2]; + + for (bit = 0x01; (bit & 0xff) && (pos < nb);) { + data_dest[pos++] = (temp & bit) ? TRUE : FALSE; + bit = bit << 1; + } + + } + } + + return ret; +} + +/* 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 start_addr, + int nb, uint8_t *data_dest) +{ + int status; + + if (nb > MAX_STATUS) { + printf("ERROR Too many coils status requested (%d > %d)\n", + nb, MAX_STATUS); + return INVALID_DATA; + } + + status = read_io_status(mb_param, FC_READ_COIL_STATUS, + start_addr, nb, data_dest); + + if (status > 0) + status = nb; + + return status; +} + + +/* Same as read_coil_status but reads the slaves input table */ +int read_input_status(modbus_param_t *mb_param, int start_addr, + int nb, uint8_t *data_dest) +{ + int status; + + if (nb > MAX_STATUS) { + printf("ERROR Too many input status requested (%d > %d)\n", + nb, MAX_STATUS); + return INVALID_DATA; + } + + status = read_io_status(mb_param, FC_READ_INPUT_STATUS, + start_addr, nb, data_dest); + + if (status > 0) + status = nb; + + return status; +} + +/* Reads the data from a modbus slave and put that data into an array */ +static int read_registers(modbus_param_t *mb_param, int function, + int start_addr, int nb, uint16_t *data_dest) +{ + int ret; + int query_length; + uint8_t query[MIN_QUERY_LENGTH]; + uint8_t response[MAX_MESSAGE_LENGTH]; + + if (nb > MAX_REGISTERS) { + printf("ERROR Too many holding registers requested (%d > %d)\n", + nb, MAX_REGISTERS); + return INVALID_DATA; + } + + query_length = build_query_basis(mb_param, function, + start_addr, nb, query); + + ret = modbus_send(mb_param, query, query_length); + if (ret > 0) { + int offset; + int i; + + ret = modbus_receive(mb_param, query, response); + + offset = TAB_HEADER_LENGTH[mb_param->type_com]; + + /* If ret is negative, the loop is jumped ! */ + for (i = 0; i < ret; i++) { + /* shift reg hi_byte to temp OR with lo_byte */ + data_dest[i] = (response[offset + 2 + (i << 1)] << 8) | + response[offset + 3 + (i << 1)]; + } + } + + return ret; +} + +/* Reads the holding registers in a slave and put the data into an + array */ +int read_holding_registers(modbus_param_t *mb_param, + int start_addr, int nb, uint16_t *data_dest) +{ + int status; + + if (nb > MAX_REGISTERS) { + printf("ERROR Too many holding registers requested (%d > %d)\n", + nb, MAX_REGISTERS); + return INVALID_DATA; + } + + status = read_registers(mb_param, FC_READ_HOLDING_REGISTERS, + start_addr, nb, data_dest); + return status; +} + +/* Reads the input registers in a slave and put the data into + an array */ +int read_input_registers(modbus_param_t *mb_param, int start_addr, int nb, + uint16_t *data_dest) +{ + int status; + + if (nb > MAX_REGISTERS) { + printf("ERROR Too many input registers requested (%d > %d)\n", + nb, MAX_REGISTERS); + return INVALID_DATA; + } + + status = read_registers(mb_param, FC_READ_INPUT_REGISTERS, + start_addr, nb, data_dest); + + return status; +} + +/* Sends a value to a register in a slave. + Used by force_single_coil and preset_single_register */ +static int set_single(modbus_param_t *mb_param, int function, + int addr, int value) +{ + int ret; + int query_length; + uint8_t query[MIN_QUERY_LENGTH]; + + query_length = build_query_basis(mb_param, function, + addr, value, query); + + ret = modbus_send(mb_param, query, query_length); + if (ret > 0) { + /* Used by force_single_coil and + * preset_single_register */ + uint8_t response[MIN_QUERY_LENGTH]; + ret = modbus_receive(mb_param, query, response); + } + + return ret; +} + +/* Turns ON or OFF a single coil in the slave device */ +int force_single_coil(modbus_param_t *mb_param, int coil_addr, int state) +{ + int status; + + if (state) + state = 0xFF00; + + status = set_single(mb_param, FC_FORCE_SINGLE_COIL, + coil_addr, state); + + return status; +} + +/* Sets a value in one holding register in the slave device */ +int preset_single_register(modbus_param_t *mb_param, int reg_addr, int value) +{ + int status; + + status = set_single(mb_param, FC_PRESET_SINGLE_REGISTER, + reg_addr, value); + + return status; +} + +/* Sets/resets the coils in the slave from an array in argument */ +int force_multiple_coils(modbus_param_t *mb_param, int start_addr, int nb, + const uint8_t *data_src) +{ + int ret; + int i; + int byte_count; + int query_length; + int coil_check = 0; + int pos = 0; + + uint8_t query[MAX_MESSAGE_LENGTH]; + + if (nb > MAX_STATUS) { + printf("ERROR Writing to too many coils (%d > %d)\n", + nb, MAX_STATUS); + return INVALID_DATA; + } + + query_length = build_query_basis(mb_param, FC_FORCE_MULTIPLE_COILS, + start_addr, nb, query); + byte_count = (nb / 8) + ((nb % 8) ? 1 : 0); + query[query_length++] = byte_count; + + for (i = 0; i < byte_count; i++) { + int bit; + + bit = 0x01; + query[query_length] = 0; + + while ((bit & 0xFF) && (coil_check++ < nb)) { + if (data_src[pos++]) + query[query_length] |= bit; + else + query[query_length] &=~ bit; + + bit = bit << 1; + } + query_length++; + } + + ret = modbus_send(mb_param, query, query_length); + if (ret > 0) { + uint8_t response[MAX_MESSAGE_LENGTH]; + ret = modbus_receive(mb_param, query, response); + } + + + return ret; +} + +/* Copies the values in the slave from the array given in argument */ +int preset_multiple_registers(modbus_param_t *mb_param, int start_addr, int nb, + const uint16_t *data_src) +{ + int ret; + int i; + int query_length; + int byte_count; + + uint8_t query[MAX_MESSAGE_LENGTH]; + + if (nb > MAX_REGISTERS) { + printf("ERROR Trying to write to too many registers (%d > %d)\n", + nb, MAX_REGISTERS); + return INVALID_DATA; + } + + query_length = build_query_basis(mb_param, FC_PRESET_MULTIPLE_REGISTERS, + start_addr, nb, query); + byte_count = nb * 2; + query[query_length++] = byte_count; + + for (i = 0; i < nb; i++) { + query[query_length++] = data_src[i] >> 8; + query[query_length++] = data_src[i] & 0x00FF; + } + + ret = modbus_send(mb_param, query, query_length); + if (ret > 0) { + uint8_t response[MAX_MESSAGE_LENGTH]; + ret = modbus_receive(mb_param, query, response); + } + + return ret; +} + +/* Returns the slave id! */ +int report_slave_id(modbus_param_t *mb_param, uint8_t *data_dest) +{ + int ret; + int query_length; + uint8_t query[MIN_QUERY_LENGTH]; + + query_length = build_query_basis(mb_param, FC_REPORT_SLAVE_ID, 0, 0, query); + + /* HACKISH, start_addr and count are not used */ + query_length -= 4; + + ret = modbus_send(mb_param, query, query_length); + if (ret > 0) { + int i; + int offset; + int offset_end; + uint8_t response[MAX_MESSAGE_LENGTH]; + + /* Byte count, slave id, run indicator status, + additional data */ + ret = modbus_receive(mb_param, query, response); + if (ret < 0) + return ret; + + offset = TAB_HEADER_LENGTH[mb_param->type_com] - 1; + offset_end = offset + ret; + + for (i = offset; i < offset_end; i++) + data_dest[i] = response[i]; + } + + return ret; +} + +/* Initializes the modbus_param_t structure for RTU + - device: "/dev/ttyS0" + - baud: 9600, 19200, 57600, 115200, etc + - parity: "even", "odd" or "none" + - data_bits: 5, 6, 7, 8 + - stop_bits: 1, 2 +*/ +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) +{ + memset(mb_param, 0, sizeof(modbus_param_t)); + strcpy(mb_param->device, device); + mb_param->baud = baud; + strcpy(mb_param->parity, parity); + mb_param->debug = FALSE; + mb_param->data_bit = data_bit; + mb_param->stop_bit = stop_bit; + mb_param->type_com = RTU; + mb_param->error_handling = FLUSH_OR_CONNECT_ON_ERROR; + mb_param->slave = slave; +} + +/* Initializes the modbus_param_t structure for TCP. + - ip : "192.168.0.5" + - port : 1099 + + Set the port to MODBUS_TCP_DEFAULT_PORT to use the default one + (502). It's convenient to use a port number greater than or equal + to 1024 because it's not necessary to be root to use this port + number. +*/ +void modbus_init_tcp(modbus_param_t *mb_param, const char *ip, int port, int slave) +{ + memset(mb_param, 0, sizeof(modbus_param_t)); + strncpy(mb_param->ip, ip, sizeof(char)*16); + mb_param->port = port; + mb_param->type_com = TCP; + mb_param->error_handling = FLUSH_OR_CONNECT_ON_ERROR; + mb_param->slave = slave; +} + +/* Define the slave number. + The special value MODBUS_BROADCAST_ADDRESS can be used. */ +void modbus_set_slave(modbus_param_t *mb_param, int slave) +{ + mb_param->slave = slave; +} + +/* By default, the error handling mode used is FLUSH_OR_CONNECT_ON_ERROR. + + With FLUSH_OR_CONNECT_ON_ERROR, the library will attempt an immediate + reconnection which may hang for several seconds if the network to + the remote target unit is down. + + With NOP_ON_ERROR, it is expected that the application will + check for error returns and deal with them as necessary. +*/ +void modbus_set_error_handling(modbus_param_t *mb_param, + error_handling_t error_handling) +{ + if (error_handling == FLUSH_OR_CONNECT_ON_ERROR || + error_handling == NOP_ON_ERROR) { + mb_param->error_handling = error_handling; + } else { + printf("Invalid setting for error handling (not changed)\n"); + } +} + + +/* Sets up a serial port for RTU communications */ +static int modbus_connect_rtu(modbus_param_t *mb_param) +{ + struct termios tios; + speed_t speed; + + if (mb_param->debug) { + printf("Opening %s at %d bauds (%s)\n", + mb_param->device, mb_param->baud, mb_param->parity); + } + + /* The O_NOCTTY flag tells UNIX that this program doesn't want + to be the "controlling terminal" for that port. If you + don't specify this then any input (such as keyboard abort + signals and so forth) will affect your process + + Timeouts are ignored in canonical input mode or when the + NDELAY option is set on the file via open or fcntl */ + mb_param->fd = open(mb_param->device, O_RDWR | O_NOCTTY | O_NDELAY | O_EXCL); + if (mb_param->fd < 0) { + perror("open"); + printf("ERROR Can't open the device %s (%s)\n", + mb_param->device, strerror(errno)); + return -1; + } + + /* Save */ + tcgetattr(mb_param->fd, &(mb_param->old_tios)); + + memset(&tios, 0, sizeof(struct termios)); + + /* C_ISPEED Input baud (new interface) + C_OSPEED Output baud (new interface) + */ + switch (mb_param->baud) { + case 110: + speed = B110; + break; + case 300: + speed = B300; + break; + case 600: + speed = B600; + break; + case 1200: + speed = B1200; + break; + case 2400: + speed = B2400; + break; + case 4800: + speed = B4800; + break; + case 9600: + speed = B9600; + break; + case 19200: + speed = B19200; + break; + case 38400: + speed = B38400; + break; + case 57600: + speed = B57600; + break; + case 115200: + speed = B115200; + break; + default: + speed = B9600; + printf("WARNING Unknown baud rate %d for %s (B9600 used)\n", + mb_param->baud, mb_param->device); + } + + /* Set the baud rate */ + if ((cfsetispeed(&tios, speed) < 0) || + (cfsetospeed(&tios, speed) < 0)) { + perror("cfsetispeed/cfsetospeed\n"); + return -1; + } + + /* C_CFLAG Control options + CLOCAL Local line - do not change "owner" of port + CREAD Enable receiver + */ + tios.c_cflag |= (CREAD | CLOCAL); + /* CSIZE, HUPCL, CRTSCTS (hardware flow control) */ + + /* Set data bits (5, 6, 7, 8 bits) + CSIZE Bit mask for data bits + */ + tios.c_cflag &= ~CSIZE; + switch (mb_param->data_bit) { + case 5: + tios.c_cflag |= CS5; + break; + case 6: + tios.c_cflag |= CS6; + break; + case 7: + tios.c_cflag |= CS7; + break; + case 8: + default: + tios.c_cflag |= CS8; + break; + } + + /* Stop bit (1 or 2) */ + if (mb_param->stop_bit == 1) + tios.c_cflag &=~ CSTOPB; + else /* 2 */ + tios.c_cflag |= CSTOPB; + + /* PARENB Enable parity bit + PARODD Use odd parity instead of even */ + if (strncmp(mb_param->parity, "none", 4) == 0) { + tios.c_cflag &=~ PARENB; + } else if (strncmp(mb_param->parity, "even", 4) == 0) { + tios.c_cflag |= PARENB; + tios.c_cflag &=~ PARODD; + } else { + /* odd */ + tios.c_cflag |= PARENB; + tios.c_cflag |= PARODD; + } + + /* Read the man page of termios if you need more information. */ + + /* This field isn't used on POSIX systems + tios.c_line = 0; + */ + + /* C_LFLAG Line options + + ISIG Enable SIGINTR, SIGSUSP, SIGDSUSP, and SIGQUIT signals + ICANON Enable canonical input (else raw) + XCASE Map uppercase \lowercase (obsolete) + ECHO Enable echoing of input characters + ECHOE Echo erase character as BS-SP-BS + ECHOK Echo NL after kill character + ECHONL Echo NL + NOFLSH Disable flushing of input buffers after + interrupt or quit characters + IEXTEN Enable extended functions + ECHOCTL Echo control characters as ^char and delete as ~? + ECHOPRT Echo erased character as character erased + ECHOKE BS-SP-BS entire line on line kill + FLUSHO Output being flushed + PENDIN Retype pending input at next read or input char + TOSTOP Send SIGTTOU for background output + + Canonical input is line-oriented. Input characters are put + into a buffer which can be edited interactively by the user + until a CR (carriage return) or LF (line feed) character is + received. + + Raw input is unprocessed. Input characters are passed + through exactly as they are received, when they are + received. Generally you'll deselect the ICANON, ECHO, + ECHOE, and ISIG options when using raw input + */ + + /* Raw input */ + tios.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); + + /* C_IFLAG Input options + + Constant Description + INPCK Enable parity check + IGNPAR Ignore parity errors + PARMRK Mark parity errors + ISTRIP Strip parity bits + IXON Enable software flow control (outgoing) + IXOFF Enable software flow control (incoming) + IXANY Allow any character to start flow again + IGNBRK Ignore break condition + BRKINT Send a SIGINT when a break condition is detected + INLCR Map NL to CR + IGNCR Ignore CR + ICRNL Map CR to NL + IUCLC Map uppercase to lowercase + IMAXBEL Echo BEL on input line too long + */ + if (strncmp(mb_param->parity, "none", 4) == 0) { + tios.c_iflag &= ~INPCK; + } else { + tios.c_iflag |= INPCK; + } + + /* Software flow control is disabled */ + tios.c_iflag &= ~(IXON | IXOFF | IXANY); + + /* C_OFLAG Output options + OPOST Postprocess output (not set = raw output) + ONLCR Map NL to CR-NL + + ONCLR ant others needs OPOST to be enabled + */ + + /* Raw ouput */ + tios.c_oflag &=~ OPOST; + + /* C_CC Control characters + VMIN Minimum number of characters to read + VTIME Time to wait for data (tenths of seconds) + + UNIX serial interface drivers provide the ability to + specify character and packet timeouts. Two elements of the + c_cc array are used for timeouts: VMIN and VTIME. Timeouts + are ignored in canonical input mode or when the NDELAY + option is set on the file via open or fcntl. + + VMIN specifies the minimum number of characters to read. If + it is set to 0, then the VTIME value specifies the time to + wait for every character read. Note that this does not mean + that a read call for N bytes will wait for N characters to + come in. Rather, the timeout will apply to the first + character and the read call will return the number of + characters immediately available (up to the number you + request). + + If VMIN is non-zero, VTIME specifies the time to wait for + the first character read. If a character is read within the + time given, any read will block (wait) until all VMIN + characters are read. That is, once the first character is + read, the serial interface driver expects to receive an + entire packet of characters (VMIN bytes total). If no + character is read within the time allowed, then the call to + read returns 0. This method allows you to tell the serial + driver you need exactly N bytes and any read call will + return 0 or N bytes. However, the timeout only applies to + the first character read, so if for some reason the driver + misses one character inside the N byte packet then the read + call could block forever waiting for additional input + characters. + + VTIME specifies the amount of time to wait for incoming + characters in tenths of seconds. If VTIME is set to 0 (the + default), reads will block (wait) indefinitely unless the + NDELAY option is set on the port with open or fcntl. + */ + /* Unused because we use open with the NDELAY option */ + tios.c_cc[VMIN] = 0; + tios.c_cc[VTIME] = 0; + + if (tcsetattr(mb_param->fd, TCSANOW, &tios) < 0) { + perror("tcsetattr\n"); + return -1; + } + + return 0; +} + +/* Establishes a modbus TCP connection with a modbus slave */ +static int modbus_connect_tcp(modbus_param_t *mb_param) +{ + int ret; + int option; + struct sockaddr_in addr; + + mb_param->fd = socket(PF_INET, SOCK_STREAM, 0); + if (mb_param->fd < 0) { + return mb_param->fd; + } + + /* Set the TCP no delay flag */ + /* SOL_TCP = IPPROTO_TCP */ + option = 1; + ret = setsockopt(mb_param->fd, IPPROTO_TCP, TCP_NODELAY, + (const void *)&option, sizeof(int)); + if (ret < 0) { + perror("setsockopt TCP_NODELAY"); + close(mb_param->fd); + return ret; + } + +#if (!HAVE_DECL___CYGWIN__) + /** + * Cygwin defines IPTOS_LOWDELAY but can't handle that flag so it's + * necessary to workaround that problem. + **/ + /* Set the IP low delay option */ + option = IPTOS_LOWDELAY; + ret = setsockopt(mb_param->fd, IPPROTO_IP, IP_TOS, + (const void *)&option, sizeof(int)); + if (ret < 0) { + perror("setsockopt IP_TOS"); + close(mb_param->fd); + return ret; + } +#endif + + if (mb_param->debug) { + printf("Connecting to %s\n", mb_param->ip); + } + + addr.sin_family = AF_INET; + addr.sin_port = htons(mb_param->port); + addr.sin_addr.s_addr = inet_addr(mb_param->ip); + ret = connect(mb_param->fd, (struct sockaddr *)&addr, + sizeof(struct sockaddr_in)); + if (ret < 0) { + perror("connect"); + close(mb_param->fd); + return ret; + } + + return 0; +} + +/* Establishes a modbus connexion. + Returns 0 on success or -1 on failure. */ +int modbus_connect(modbus_param_t *mb_param) +{ + int ret; + + if (mb_param->type_com == RTU) + ret = modbus_connect_rtu(mb_param); + else + ret = modbus_connect_tcp(mb_param); + + return ret; +} + +/* Closes the file descriptor in RTU mode */ +static void modbus_close_rtu(modbus_param_t *mb_param) +{ + if (tcsetattr(mb_param->fd, TCSANOW, &(mb_param->old_tios)) < 0) + perror("tcsetattr"); + + close(mb_param->fd); +} + +/* Closes the network connection and socket in TCP mode */ +static void modbus_close_tcp(modbus_param_t *mb_param) +{ + shutdown(mb_param->fd, SHUT_RDWR); + close(mb_param->fd); +} + +/* Closes a modbus connection */ +void modbus_close(modbus_param_t *mb_param) +{ + if (mb_param->type_com == RTU) + modbus_close_rtu(mb_param); + else + modbus_close_tcp(mb_param); +} + +/* Activates the debug messages */ +void modbus_set_debug(modbus_param_t *mb_param, int boolean) +{ + mb_param->debug = boolean; +} + +/* Allocates 4 arrays to store coils, input status, input registers and + holding registers. The pointers are stored in modbus_mapping structure. + + Returns 0 on success and -1 on failure. +*/ +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) +{ + /* 0X */ + mb_mapping->nb_coil_status = nb_coil_status; + mb_mapping->tab_coil_status = + (uint8_t *) malloc(nb_coil_status * sizeof(uint8_t)); + memset(mb_mapping->tab_coil_status, 0, + nb_coil_status * sizeof(uint8_t)); + if (mb_mapping->tab_coil_status == NULL) + return -1; + + /* 1X */ + mb_mapping->nb_input_status = nb_input_status; + mb_mapping->tab_input_status = + (uint8_t *) malloc(nb_input_status * sizeof(uint8_t)); + memset(mb_mapping->tab_input_status, 0, + nb_input_status * sizeof(uint8_t)); + if (mb_mapping->tab_input_status == NULL) { + free(mb_mapping->tab_coil_status); + return -1; + } + + /* 4X */ + mb_mapping->nb_holding_registers = nb_holding_registers; + mb_mapping->tab_holding_registers = + (uint16_t *) malloc(nb_holding_registers * sizeof(uint16_t)); + memset(mb_mapping->tab_holding_registers, 0, + nb_holding_registers * sizeof(uint16_t)); + if (mb_mapping->tab_holding_registers == NULL) { + free(mb_mapping->tab_coil_status); + free(mb_mapping->tab_input_status); + return -1; + } + + /* 3X */ + mb_mapping->nb_input_registers = nb_input_registers; + mb_mapping->tab_input_registers = + (uint16_t *) malloc(nb_input_registers * sizeof(uint16_t)); + memset(mb_mapping->tab_input_registers, 0, + nb_input_registers * sizeof(uint16_t)); + if (mb_mapping->tab_input_registers == NULL) { + free(mb_mapping->tab_coil_status); + free(mb_mapping->tab_input_status); + free(mb_mapping->tab_holding_registers); + return -1; + } + + return 0; +} + +/* Frees the 4 arrays */ +void modbus_mapping_free(modbus_mapping_t *mb_mapping) +{ + free(mb_mapping->tab_coil_status); + free(mb_mapping->tab_input_status); + free(mb_mapping->tab_holding_registers); + free(mb_mapping->tab_input_registers); +} + +/* Listens for any query from one or many modbus masters in TCP */ +int modbus_slave_listen_tcp(modbus_param_t *mb_param, int nb_connection) +{ + int new_socket; + int yes; + struct sockaddr_in addr; + + new_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP); + if (new_socket < 0) { + perror("socket"); + return -1; + } + + yes = 1; + if (setsockopt(new_socket, SOL_SOCKET, SO_REUSEADDR, + (char *) &yes, sizeof(yes)) < 0) { + perror("setsockopt"); + close(new_socket); + return -1; + } + + memset(&addr, 0, sizeof(addr)); + addr.sin_family = AF_INET; + /* If the modbus port is < to 1024, we need the setuid root. */ + addr.sin_port = htons(mb_param->port); + addr.sin_addr.s_addr = INADDR_ANY; + if (bind(new_socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) { + perror("bind"); + close(new_socket); + return -1; + } + + if (listen(new_socket, nb_connection) < 0) { + perror("listen"); + close(new_socket); + return -1; + } + + return new_socket; +} + +int modbus_slave_accept_tcp(modbus_param_t *mb_param, int *socket) +{ + struct sockaddr_in addr; + socklen_t addrlen; + + addrlen = sizeof(struct sockaddr_in); + mb_param->fd = accept(*socket, (struct sockaddr *)&addr, &addrlen); + if (mb_param->fd < 0) { + perror("accept"); + close(*socket); + *socket = 0; + } else { + printf("The client %s is connected\n", + inet_ntoa(addr.sin_addr)); + } + + return mb_param->fd; +} + +/* Closes a TCP socket */ +void modbus_slave_close_tcp(int socket) +{ + shutdown(socket, SHUT_RDWR); + close(socket); +} + +/** Utils **/ + +/* Sets many input/coil status from a single byte value (all 8 bits of + the byte value are set) */ +void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value) +{ + int i; + + for (i=0; i<8; i++) { + dest[address+i] = (value & (1 << i)) ? ON : OFF; + } +} + +/* Sets many input/coil status from a table of bytes (only the bits + between address and address + nb_bits are set) */ +void set_bits_from_bytes(uint8_t *dest, int address, int nb_bits, + const uint8_t tab_byte[]) +{ + int i; + int shift = 0; + + for (i = address; i < address + nb_bits; i++) { + dest[i] = tab_byte[(i - address) / 8] & (1 << shift) ? ON : OFF; + /* gcc doesn't like: shift = (++shift) % 8; */ + shift++; + shift %= 8; + } +} + +/* Gets the byte value from many input/coil status. + To obtain a full byte, set nb_bits to 8. */ +uint8_t get_byte_from_bits(const uint8_t *src, int address, int nb_bits) +{ + int i; + uint8_t value = 0; + + if (nb_bits > 8) { + printf("Error: nb_bits is too big\n"); + nb_bits = 8; + } + + for (i=0; i < nb_bits; i++) { + value |= (src[address+i] << i); + } + + return value; +} + +/* Read a float from 4 bytes in Modbus format */ +float modbus_read_float(const uint16_t *src) +{ + float r = 0.0f; + uint32_t i; + + i = (((uint32_t)src[1]) << 16) + src[0]; + memcpy(&r, &i, sizeof (r)); + return r; +} + +/* Write a float to 4 bytes in Modbus format */ +void modbus_write_float(float real, uint16_t *dest) +{ + uint32_t i = 0; + + memcpy(&i, &real, sizeof (i)); + dest[0] = (uint16_t)i; + dest[1] = (uint16_t)(i >> 16); +} diff --git a/modbus/modbus.h b/modbus/modbus.h new file mode 100644 index 0000000..ea74b9c --- /dev/null +++ b/modbus/modbus.h @@ -0,0 +1,373 @@ +/* + * Copyright © 2001-2010 Stéphane Raimbault + * + * 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 . + */ + +#ifndef _MODBUS_H_ +#define _MODBUS_H_ + +#ifdef HAVE_INTTYPES_H +#include +#endif +#ifdef HAVE_STDINT_H +#include +#endif +#include +#if defined(__FreeBSD__ ) && __FreeBSD__ < 5 +#include +#endif +#include +#include +#include +#include + +#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 + +/* 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 INVALID_DATA -0x10 +#define INVALID_CRC -0x11 +#define INVALID_EXCEPTION_CODE -0x12 + +#define SELECT_TIMEOUT -0x13 +#define SELECT_FAILURE -0x14 +#define SOCKET_FAILURE -0x15 +#define CONNECTION_CLOSED -0x16 +#define MB_EXCEPTION -0x17 + +/* Internal using */ +#define MSG_LENGTH_UNDEFINED -1 + +typedef enum { RTU=0, TCP } type_com_t; +typedef enum { FLUSH_OR_CONNECT_ON_ERROR, NOP_ON_ERROR } error_handling_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_handling; + /* 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; + + +/* 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 start_addr, int nb, + uint8_t *dest); + +/* Same as read_coil_status but reads the slaves input table */ +int read_input_status(modbus_param_t *mb_param, int start_addr, int nb, + uint8_t *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 start_addr, int nb, + uint16_t *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 start_addr, int nb, + uint16_t *dest); + +/* Turns ON or OFF a single coil in the slave device */ +int force_single_coil(modbus_param_t *mb_param, 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 reg_addr, int value); + +/* Sets/resets the coils in the slave from an array in argument */ +int force_multiple_coils(modbus_param_t *mb_param, int start_addr, int nb, + const uint8_t *data); + +/* Copies the values in the slave from the array given in argument */ +int preset_multiple_registers(modbus_param_t *mb_param, int start_addr, int nb, + const uint16_t *data); + +/* Returns the slave id! */ +int report_slave_id(modbus_param_t *mb_param, uint8_t *dest); + +/* Initializes the modbus_param_t structure for RTU. + - device: "/dev/ttyS0" + - baud: 9600, 19200, 57600, 115200, etc + - parity: "even", "odd" or "none" + - data_bits: 5, 6, 7, 8 + - stop_bits: 1, 2 +*/ +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); + +/* Initializes the modbus_param_t structure for TCP. + - ip: "192.168.0.5" + - port: 1099 + - slave: 5 + + Set the port to MODBUS_TCP_DEFAULT_PORT to use the default one + (502). It's convenient to use a port number greater than or equal + to 1024 because it's not necessary to be root to use this port + number. +*/ +void modbus_init_tcp(modbus_param_t *mb_param, const char *ip_address, int port, + int slave); + +/* Define the slave number. + The special value MODBUS_BROADCAST_ADDRESS can be used. */ +void modbus_set_slave(modbus_param_t *mb_param, int slave); + +/* By default, the error handling mode used is CONNECT_ON_ERROR. + + With FLUSH_OR_CONNECT_ON_ERROR, the library will attempt an immediate + reconnection which may hang for several seconds if the network to + the remote target unit is down. + + With NOP_ON_ERROR, it is expected that the application will + check for network error returns and deal with them as necessary. + + This function is only useful in TCP mode. + */ +void modbus_set_error_handling(modbus_param_t *mb_param, error_handling_t error_handling); + +/* Establishes a modbus connexion. + Returns 0 on success or -1 on failure. */ +int modbus_connect(modbus_param_t *mb_param); + +/* Closes a modbus connection */ +void modbus_close(modbus_param_t *mb_param); + +/* Flush the pending request */ +void modbus_flush(modbus_param_t *mb_param); + +/* Activates the debug messages */ +void modbus_set_debug(modbus_param_t *mb_param, int boolean); + +/** + * SLAVE/CLIENT FUNCTIONS + **/ + +/* Allocates 4 arrays to store coils, input status, input registers and + holding registers. The pointers are stored in modbus_mapping structure. + + Returns 0 on success and -1 on failure + */ +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); + +/* Frees the 4 arrays */ +void modbus_mapping_free(modbus_mapping_t *mb_mapping); + +/* Listens for any query from one or many modbus masters in TCP. + + Returns: socket + */ +int modbus_slave_listen_tcp(modbus_param_t *mb_param, int nb_connection); + +/* Waits for a connection */ +int modbus_slave_accept_tcp(modbus_param_t *mb_param, int *socket); + +/* Listens for any query from a modbus master in TCP, requires the socket file + descriptor etablished with the master device in argument or -1 to use the + internal one of modbus_param_t. + + Returns: + - byte length of the message on success, or a negative error number if the + request fails + - query, message received +*/ +int modbus_slave_receive(modbus_param_t *mb_param, int sockfd, uint8_t *query); + +/* Manages the received query. + Analyses the query and constructs a response. + + If an error occurs, this function construct the response + accordingly. +*/ +void modbus_slave_manage(modbus_param_t *mb_param, const uint8_t *query, + int query_length, modbus_mapping_t *mb_mapping); + +/* Closes a TCP socket */ +void modbus_slave_close_tcp(int socket); + +/** + * UTILS FUNCTIONS + **/ + +/* Sets many input/coil status from a single byte value (all 8 bits of + the byte value are set) */ +void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value); + +/* Sets many input/coil status from a table of bytes (only the bits + between address and address + nb_bits are set) */ +void set_bits_from_bytes(uint8_t *dest, int address, int nb_bits, + const uint8_t *tab_byte); + +/* Gets the byte value from many input/coil status. + To obtain a full byte, set nb_bits to 8. */ +uint8_t get_byte_from_bits(const uint8_t *src, int address, int nb_bits); + +/* Read a float from 4 bytes in Modbus format */ +float modbus_read_float(const uint16_t *src); + +/* Write a float to 4 bytes in Modbus format */ +void modbus_write_float(float real, uint16_t *dest); + +#ifdef __cplusplus +} +#endif + +#endif /* _MODBUS_H_ */ diff --git a/src/Makefile.am b/src/Makefile.am deleted file mode 100644 index 60fa7aa..0000000 --- a/src/Makefile.am +++ /dev/null @@ -1,10 +0,0 @@ -lib_LTLIBRARIES = libmodbus.la -libmodbus_la_SOURCES = modbus.c modbus.h -libmodbus_la_LDFLAGS = -version-info 2:0:0 -service_CFLAGS = -I$(top_srcdir)/ - -# Include files to install -libmodbusincludedir = $(includedir)/modbus -libmodbusinclude_HEADERS = modbus.h - -CLEANFILES = *~ diff --git a/src/modbus.c b/src/modbus.c deleted file mode 100644 index 305d1e6..0000000 --- a/src/modbus.c +++ /dev/null @@ -1,2007 +0,0 @@ -/* - * Copyright © 2001-2010 Stéphane Raimbault - * - * 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 . - */ - -/* - The library is designed to send and receive data from a device that - communicate via the Modbus protocol. - - The function names used are inspired by the Modicon Modbus Protocol - Reference Guide which can be obtained from Schneider at - www.schneiderautomation.com. - - Documentation: - http://www.easysw.com/~mike/serial/serial.html - http://copyleft.free.fr/wordpress/index.php/libmodbus/ -*/ - -#include -#include -#include -#ifdef HAVE_INTTYPES_H -#include -#endif -#ifdef HAVE_STDINT_H -#include -#endif -#include -#include -#include -#include -#include -#include - -/* TCP */ -#include -#include -#include -#if defined(__FreeBSD__ ) && __FreeBSD__ < 5 -#include -#endif -#include -#include -#include -#include - -#if !defined(UINT16_MAX) -#define UINT16_MAX 0xFFFF -#endif - -#include "config.h" -#include "modbus.h" - -#define UNKNOWN_ERROR_MSG "Not defined in modbus specification" - -/* This structure reduces the number of params in functions and so - * optimizes the speed of execution (~ 37%). */ -typedef struct { - int slave; - int function; - int t_id; -} sft_t; - -static const uint8_t NB_TAB_ERROR_MSG = 12; -static const char *TAB_ERROR_MSG[] = { - /* 0x00 */ UNKNOWN_ERROR_MSG, - /* 0x01 */ "Illegal function code", - /* 0x02 */ "Illegal data address", - /* 0x03 */ "Illegal data value", - /* 0x04 */ "Slave device or server failure", - /* 0x05 */ "Acknowledge", - /* 0x06 */ "Slave device or server busy", - /* 0x07 */ "Negative acknowledge", - /* 0x08 */ "Memory parity error", - /* 0x09 */ UNKNOWN_ERROR_MSG, - /* 0x0A */ "Gateway path unavailable", - /* 0x0B */ "Target device failed to respond" -}; - -/* Table of CRC values for high-order byte */ -static uint8_t table_crc_hi[] = { - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, - 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, - 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, - 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, - 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, - 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, - 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, - 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, - 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, - 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 -}; - -/* Table of CRC values for low-order byte */ -static uint8_t table_crc_lo[] = { - 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, - 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, - 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, - 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, - 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, - 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, - 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, - 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, - 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, - 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, - 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, - 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, - 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, - 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, - 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, - 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, - 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, - 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, - 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, - 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, - 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, - 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, - 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, - 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, - 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, - 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 -}; - -static const int TAB_HEADER_LENGTH[2] = { - HEADER_LENGTH_RTU, - HEADER_LENGTH_TCP -}; - -static const int TAB_CHECKSUM_LENGTH[2] = { - CHECKSUM_LENGTH_RTU, - CHECKSUM_LENGTH_TCP -}; - -static const int TAB_MAX_ADU_LENGTH[2] = { - MAX_ADU_LENGTH_RTU, - MAX_ADU_LENGTH_TCP, -}; - -/* Treats errors and flush or close connection if necessary */ -static void error_treat(modbus_param_t *mb_param, int code, const char *string) -{ - printf("\nERROR %s (%0X)\n", string, -code); - - if (mb_param->error_handling == FLUSH_OR_CONNECT_ON_ERROR) { - switch (code) { - case INVALID_DATA: - case INVALID_CRC: - case INVALID_EXCEPTION_CODE: - modbus_flush(mb_param); - break; - case SELECT_FAILURE: - case SOCKET_FAILURE: - case CONNECTION_CLOSED: - modbus_close(mb_param); - modbus_connect(mb_param); - break; - default: - /* NOP */ - break; - } - } -} - -void modbus_flush(modbus_param_t *mb_param) -{ - if (mb_param->type_com == RTU) { - tcflush(mb_param->fd, TCIOFLUSH); - } else { - int ret; - do { - /* Extract the garbage from the socket */ - char devnull[MAX_ADU_LENGTH_TCP]; -#if (!HAVE_DECL___CYGWIN__) - ret = recv(mb_param->fd, devnull, MAX_ADU_LENGTH_TCP, MSG_DONTWAIT); -#else - /* On Cygwin, it's a bit more complicated to not wait */ - fd_set rfds; - struct timeval tv; - - tv.tv_sec = 0; - tv.tv_usec = 0; - FD_ZERO(&rfds); - FD_SET(mb_param->fd, &rfds); - ret = select(mb_param->fd+1, &rfds, NULL, NULL, &tv); - if (ret > 0) { - ret = recv(mb_param->fd, devnull, MAX_ADU_LENGTH_TCP, 0); - } else if (ret == -1) { - /* error_treat() doesn't call modbus_flush() in - this case (avoid infinite loop) */ - error_treat(mb_param, SELECT_FAILURE, "Select failure"); - } -#endif - if (mb_param->debug && ret > 0) { - printf("%d bytes flushed\n", ret); - } - } while (ret > 0); - } -} - -/* Computes the length of the expected response */ -static unsigned int compute_response_length(modbus_param_t *mb_param, - uint8_t *query) -{ - int length; - int offset; - - offset = TAB_HEADER_LENGTH[mb_param->type_com]; - - switch (query[offset]) { - case FC_READ_COIL_STATUS: - case FC_READ_INPUT_STATUS: { - /* Header + nb values (code from force_multiple_coils) */ - int nb = (query[offset + 3] << 8) | query[offset + 4]; - length = 2 + (nb / 8) + ((nb % 8) ? 1 : 0); - } - break; - case FC_READ_HOLDING_REGISTERS: - case FC_READ_INPUT_REGISTERS: - /* Header + 2 * nb values */ - length = 2 + 2 * (query[offset + 3] << 8 | - query[offset + 4]); - break; - case FC_READ_EXCEPTION_STATUS: - length = 3; - break; - case FC_REPORT_SLAVE_ID: - /* The response is device specific (the header provides the - length) */ - return MSG_LENGTH_UNDEFINED; - default: - length = 5; - } - - return length + offset + TAB_CHECKSUM_LENGTH[mb_param->type_com]; -} - -/* Builds a RTU query header */ -static int build_query_basis_rtu(int slave, int function, - int start_addr, int nb, - uint8_t *query) -{ - query[0] = slave; - query[1] = function; - query[2] = start_addr >> 8; - query[3] = start_addr & 0x00ff; - query[4] = nb >> 8; - query[5] = nb & 0x00ff; - - return PRESET_QUERY_LENGTH_RTU; -} - -/* Builds a TCP query header */ -static int build_query_basis_tcp(int slave, int function, - int start_addr, int nb, - uint8_t *query) -{ - - /* Extract from MODBUS Messaging on TCP/IP Implementation - Guide V1.0b (page 23/46): - The transaction identifier is used to associate the future - response with the request. So, at a time, on a TCP - connection, this identifier must be unique. - */ - static uint16_t t_id = 0; - - /* Transaction ID */ - if (t_id < UINT16_MAX) - t_id++; - else - t_id = 0; - query[0] = t_id >> 8; - query[1] = t_id & 0x00ff; - - /* Protocol Modbus */ - query[2] = 0; - query[3] = 0; - - /* Length will be defined later by set_query_length_tcp at offsets 4 - * and 5 */ - - query[6] = slave; - query[7] = function; - query[8] = start_addr >> 8; - query[9] = start_addr & 0x00ff; - query[10] = nb >> 8; - query[11] = nb & 0x00ff; - - return PRESET_QUERY_LENGTH_TCP; -} - -static int build_query_basis(modbus_param_t *mb_param, - int function, int start_addr, - int nb, uint8_t *query) -{ - if (mb_param->type_com == RTU) - return build_query_basis_rtu(mb_param->slave, function, - start_addr, nb, query); - else - return build_query_basis_tcp(mb_param->slave, function, - start_addr, nb, query); -} - -/* Builds a RTU response header */ -static int build_response_basis_rtu(sft_t *sft, uint8_t *response) -{ - response[0] = sft->slave; - response[1] = sft->function; - - return PRESET_RESPONSE_LENGTH_RTU; -} - -/* Builds a TCP response header */ -static int build_response_basis_tcp(sft_t *sft, uint8_t *response) -{ - /* Extract from MODBUS Messaging on TCP/IP Implementation - Guide V1.0b (page 23/46): - The transaction identifier is used to associate the future - response with the request. */ - response[0] = sft->t_id >> 8; - response[1] = sft->t_id & 0x00ff; - - /* Protocol Modbus */ - response[2] = 0; - response[3] = 0; - - /* Length to fix later with set_message_length_tcp (4 and 5) */ - - response[6] = sft->slave; - response[7] = sft->function; - - return PRESET_RESPONSE_LENGTH_TCP; -} - -static int build_response_basis(modbus_param_t *mb_param, sft_t *sft, - uint8_t *response) -{ - if (mb_param->type_com == RTU) - return build_response_basis_rtu(sft, response); - else - return build_response_basis_tcp(sft, response); -} - -/* Sets the length of TCP message in the message (query and response) */ -void set_message_length_tcp(uint8_t *msg, int msg_length) -{ - /* Substract the header length to the message length */ - int mbap_length = msg_length - 6; - - msg[4] = mbap_length >> 8; - msg[5] = mbap_length & 0x00FF; -} - -/* Fast CRC */ -static uint16_t crc16(uint8_t *buffer, uint16_t buffer_length) -{ - uint8_t crc_hi = 0xFF; /* high CRC byte initialized */ - uint8_t crc_lo = 0xFF; /* low CRC byte initialized */ - unsigned int i; /* will index into CRC lookup */ - - /* pass through message buffer */ - while (buffer_length--) { - i = crc_hi ^ *buffer++; /* calculate the CRC */ - crc_hi = crc_lo ^ table_crc_hi[i]; - crc_lo = table_crc_lo[i]; - } - - return (crc_hi << 8 | crc_lo); -} - -/* If CRC is correct returns msg_length else returns INVALID_CRC */ -static int check_crc16(modbus_param_t *mb_param, - uint8_t *msg, - const int msg_length) -{ - int ret; - uint16_t crc_calc; - uint16_t crc_received; - - crc_calc = crc16(msg, msg_length - 2); - crc_received = (msg[msg_length - 2] << 8) | msg[msg_length - 1]; - - /* Check CRC of msg */ - if (crc_calc == crc_received) { - ret = msg_length; - } else { - char s_error[64]; - sprintf(s_error, - "invalid crc received %0X - crc_calc %0X", - crc_received, crc_calc); - ret = INVALID_CRC; - error_treat(mb_param, ret, s_error); - } - - return ret; -} - -/* Sends a query/response over a serial or a TCP communication */ -static int modbus_send(modbus_param_t *mb_param, uint8_t *query, - int query_length) -{ - int ret; - uint16_t s_crc; - int i; - - if (mb_param->type_com == RTU) { - s_crc = crc16(query, query_length); - query[query_length++] = s_crc >> 8; - query[query_length++] = s_crc & 0x00FF; - } else { - set_message_length_tcp(query, query_length); - } - - if (mb_param->debug) { - for (i = 0; i < query_length; i++) - printf("[%.2X]", query[i]); - printf("\n"); - } - - if (mb_param->type_com == RTU) - ret = write(mb_param->fd, query, query_length); - else - ret = send(mb_param->fd, query, query_length, MSG_NOSIGNAL); - - /* Return the number of bytes written (0 to n) - or SOCKET_FAILURE on error */ - if ((ret == -1) || (ret != query_length)) { - ret = SOCKET_FAILURE; - error_treat(mb_param, ret, "Write socket failure"); - } - - return ret; -} - -/* Computes the length of the header following the function code */ -static uint8_t compute_query_length_header(int function) -{ - int length; - - if (function <= FC_FORCE_SINGLE_COIL || - function == FC_PRESET_SINGLE_REGISTER) - /* Read and single write */ - length = 4; - else if (function == FC_FORCE_MULTIPLE_COILS || - function == FC_PRESET_MULTIPLE_REGISTERS) - /* Multiple write */ - length = 5; - else if (function == FC_REPORT_SLAVE_ID) - length = 1; - else - length = 0; - - return length; -} - -/* Computes the length of the data to write in the query */ -static int compute_query_length_data(modbus_param_t *mb_param, uint8_t *msg) -{ - int function = msg[TAB_HEADER_LENGTH[mb_param->type_com]]; - int length; - - if (function == FC_FORCE_MULTIPLE_COILS || - function == FC_PRESET_MULTIPLE_REGISTERS) - length = msg[TAB_HEADER_LENGTH[mb_param->type_com] + 5]; - else if (function == FC_REPORT_SLAVE_ID) - length = msg[TAB_HEADER_LENGTH[mb_param->type_com] + 1]; - else - length = 0; - - length += TAB_CHECKSUM_LENGTH[mb_param->type_com]; - - return length; -} - -#define WAIT_DATA() \ -{ \ - while ((select_ret = select(mb_param->fd+1, &rfds, NULL, NULL, &tv)) == -1) { \ - if (errno == EINTR) { \ - printf("A non blocked signal was caught\n"); \ - /* Necessary after an error */ \ - FD_ZERO(&rfds); \ - FD_SET(mb_param->fd, &rfds); \ - } else { \ - error_treat(mb_param, SELECT_FAILURE, "Select failure"); \ - return SELECT_FAILURE; \ - } \ - } \ - \ - if (select_ret == 0) { \ - /* Timeout */ \ - if (msg_length == (TAB_HEADER_LENGTH[mb_param->type_com] + 2 + \ - TAB_CHECKSUM_LENGTH[mb_param->type_com])) { \ - /* Optimization allowed because exception response is \ - the smallest trame in modbus protocol (3) so always \ - raise a timeout error */ \ - return MB_EXCEPTION; \ - } else { \ - /* Call to error_treat is done later to manage exceptions */ \ - return SELECT_TIMEOUT; \ - } \ - } \ -} - -/* Waits a reply from a modbus slave or a query from a modbus master. - This function blocks if there is no replies (3 timeouts). - - In - - msg_length_computed must be set to MSG_LENGTH_UNDEFINED if undefined - - Out - - msg is an array of uint8_t to receive the message - - On success, return the number of received characters. On error, return - a negative value. -*/ -static int receive_msg(modbus_param_t *mb_param, - int msg_length_computed, - uint8_t *msg) -{ - int select_ret; - int read_ret; - fd_set rfds; - struct timeval tv; - int length_to_read; - uint8_t *p_msg; - enum { FUNCTION, BYTE, COMPLETE }; - int state; - - int msg_length = 0; - - if (mb_param->debug) { - if (msg_length_computed == MSG_LENGTH_UNDEFINED) - printf("Waiting for a message...\n"); - else - printf("Waiting for a message (%d bytes)...\n", - msg_length_computed); - } - - /* Add a file descriptor to the set */ - FD_ZERO(&rfds); - FD_SET(mb_param->fd, &rfds); - - if (msg_length_computed == MSG_LENGTH_UNDEFINED) { - /* Wait for a message */ - tv.tv_sec = 60; - tv.tv_usec = 0; - - /* The message length is undefined (query receiving) so - * we need to analyse the message step by step. - * At the first step, we want to reach the function - * code because all packets have that information. */ - state = FUNCTION; - msg_length_computed = TAB_HEADER_LENGTH[mb_param->type_com] + 1; - } else { - tv.tv_sec = 0; - tv.tv_usec = TIME_OUT_BEGIN_OF_TRAME; - state = COMPLETE; - } - - length_to_read = msg_length_computed; - - select_ret = 0; - WAIT_DATA(); - - p_msg = msg; - while (select_ret) { - if (mb_param->type_com == RTU) - read_ret = read(mb_param->fd, p_msg, length_to_read); - else - read_ret = recv(mb_param->fd, p_msg, length_to_read, 0); - - if (read_ret == 0) { - return CONNECTION_CLOSED; - } else if (read_ret < 0) { - /* The only negative possible value is -1 */ - error_treat(mb_param, SOCKET_FAILURE, - "Read socket failure"); - return SOCKET_FAILURE; - } - - /* Sums bytes received */ - msg_length += read_ret; - - /* Display the hex code of each character received */ - if (mb_param->debug) { - int i; - for (i=0; i < read_ret; i++) - printf("<%.2X>", p_msg[i]); - } - - if (msg_length < msg_length_computed) { - /* Message incomplete */ - length_to_read = msg_length_computed - msg_length; - } else { - switch (state) { - case FUNCTION: - /* Function code position */ - length_to_read = compute_query_length_header( - msg[TAB_HEADER_LENGTH[mb_param->type_com]]); - msg_length_computed += length_to_read; - /* It's useless to check the value of - msg_length_computed in this case (only - defined values are used). */ - state = BYTE; - break; - case BYTE: - length_to_read = compute_query_length_data(mb_param, msg); - msg_length_computed += length_to_read; - if (msg_length_computed > TAB_MAX_ADU_LENGTH[mb_param->type_com]) { - error_treat(mb_param, INVALID_DATA, "Too many data"); - return INVALID_DATA; - } - state = COMPLETE; - break; - case COMPLETE: - length_to_read = 0; - break; - } - } - - /* Moves the pointer to receive other data */ - p_msg = &(p_msg[read_ret]); - - if (length_to_read > 0) { - /* If no character at the buffer wait - TIME_OUT_END_OF_TRAME before to generate an error. */ - tv.tv_sec = 0; - tv.tv_usec = TIME_OUT_END_OF_TRAME; - - WAIT_DATA(); - } else { - /* All chars are received */ - select_ret = FALSE; - } - } - - if (mb_param->debug) - printf("\n"); - - if (mb_param->type_com == RTU) { - /* Returns msg_length on success and a negative value on - failure */ - return check_crc16(mb_param, msg, msg_length); - } else { - /* OK */ - return msg_length; - } -} - -/* Listens for any query from a modbus master in TCP, requires the socket file - descriptor etablished with the master device in argument or -1 to use the - internal one of modbus_param_t. - - Returns: - - byte length of the message on success, or a negative error number if the - request fails - - query, message received -*/ -int modbus_slave_receive(modbus_param_t *mb_param, int sockfd, uint8_t *query) -{ - if (sockfd != -1) { - mb_param->fd = sockfd; - } - - /* The length of the query to receive isn't known. */ - return receive_msg(mb_param, MSG_LENGTH_UNDEFINED, query); -} - -/* Receives the response and checks values (and checksum in RTU). - - Returns: - - the number of values (bits or words) if success or the response - length if no value is returned - - less than 0 for exception errors - - Note: all functions used to send or receive data with modbus return - these values. */ -static int modbus_receive(modbus_param_t *mb_param, - uint8_t *query, - uint8_t *response) -{ - int ret; - int response_length_computed; - int offset = TAB_HEADER_LENGTH[mb_param->type_com]; - - response_length_computed = compute_response_length(mb_param, query); - ret = receive_msg(mb_param, response_length_computed, response); - if (ret >= 0) { - /* GOOD RESPONSE */ - int query_nb_value; - int response_nb_value; - - /* The number of values is returned if it's corresponding - * to the query */ - switch (response[offset]) { - case FC_READ_COIL_STATUS: - case FC_READ_INPUT_STATUS: - /* Read functions, 8 values in a byte (nb - * of values in the query and byte count in - * the response. */ - query_nb_value = (query[offset + 3] << 8) + query[offset + 4]; - query_nb_value = (query_nb_value / 8) + ((query_nb_value % 8) ? 1 : 0); - response_nb_value = response[offset + 1]; - break; - case FC_READ_HOLDING_REGISTERS: - case FC_READ_INPUT_REGISTERS: - /* Read functions 1 value = 2 bytes */ - query_nb_value = (query[offset + 3] << 8) + query[offset + 4]; - response_nb_value = (response[offset + 1] / 2); - break; - case FC_FORCE_MULTIPLE_COILS: - case FC_PRESET_MULTIPLE_REGISTERS: - /* N Write functions */ - query_nb_value = (query[offset + 3] << 8) + query[offset + 4]; - response_nb_value = (response[offset + 3] << 8) | response[offset + 4]; - break; - case FC_REPORT_SLAVE_ID: - /* Report slave ID (bytes received) */ - query_nb_value = response_nb_value = ret; - break; - default: - /* 1 Write functions & others */ - query_nb_value = response_nb_value = 1; - } - - if (query_nb_value == response_nb_value) { - ret = response_nb_value; - } else { - char *s_error = malloc(64 * sizeof(char)); - sprintf(s_error, "Quantity not corresponding to the query (%d != %d)", - response_nb_value, query_nb_value); - ret = INVALID_DATA; - error_treat(mb_param, ret, s_error); - free(s_error); - } - } else if (ret == MB_EXCEPTION) { - /* EXCEPTION CODE RECEIVED */ - - /* CRC must be checked here (not done in receive_msg) */ - if (mb_param->type_com == RTU) { - ret = check_crc16(mb_param, response, EXCEPTION_RESPONSE_LENGTH_RTU); - if (ret < 0) - return ret; - } - - /* Check for exception response. - 0x80 + function is stored in the exception - response. */ - if (0x80 + query[offset] == response[offset]) { - - int exception_code = response[offset + 1]; - // FIXME check test - if (exception_code < NB_TAB_ERROR_MSG) { - error_treat(mb_param, -exception_code, - TAB_ERROR_MSG[response[offset + 1]]); - /* RETURN THE EXCEPTION CODE */ - /* Modbus error code is negative */ - return -exception_code; - } else { - /* The chances are low to hit this - case but it can avoid a vicious - segfault */ - char *s_error = malloc(64 * sizeof(char)); - sprintf(s_error, - "Invalid exception code %d", - response[offset + 1]); - error_treat(mb_param, INVALID_EXCEPTION_CODE, - s_error); - free(s_error); - return INVALID_EXCEPTION_CODE; - } - } - } else { - /* Other errors */ - error_treat(mb_param, ret, "receive_msg"); - } - - return ret; -} - -static int response_io_status(int address, int nb, - uint8_t *tab_io_status, - uint8_t *response, int offset) -{ - int shift = 0; - int byte = 0; - int i; - - for (i = address; i < address+nb; i++) { - byte |= tab_io_status[i] << shift; - if (shift == 7) { - /* Byte is full */ - response[offset++] = byte; - byte = shift = 0; - } else { - shift++; - } - } - - if (shift != 0) - response[offset++] = byte; - - return offset; -} - -/* Build the exception response */ -static int response_exception(modbus_param_t *mb_param, sft_t *sft, - int exception_code, uint8_t *response) -{ - int response_length; - - sft->function = sft->function + 0x80; - response_length = build_response_basis(mb_param, sft, response); - - /* Positive exception code */ - response[response_length++] = -exception_code; - - return response_length; -} - -/* Manages the received query. - Analyses the query and constructs a response. - - If an error occurs, this function construct the response - accordingly. -*/ -void modbus_slave_manage(modbus_param_t *mb_param, const uint8_t *query, - int query_length, modbus_mapping_t *mb_mapping) -{ - int offset = TAB_HEADER_LENGTH[mb_param->type_com]; - int slave = query[offset - 1]; - int function = query[offset]; - uint16_t address = (query[offset + 1] << 8) + query[offset + 2]; - uint8_t response[MAX_MESSAGE_LENGTH]; - int resp_length = 0; - sft_t sft; - - if (slave != mb_param->slave && slave != MODBUS_BROADCAST_ADDRESS) { - // Ignores the query (not for me) - if (mb_param->debug) { - printf("Request for slave %d ignored (not %d)\n", - slave, mb_param->slave); - } - return; - } - - sft.slave = slave; - sft.function = function; - if (mb_param->type_com == TCP) { - sft.t_id = (query[0] << 8) + query[1]; - } else { - sft.t_id = 0; - query_length -= CHECKSUM_LENGTH_RTU; - } - - switch (function) { - case FC_READ_COIL_STATUS: { - int nb = (query[offset + 3] << 8) + query[offset + 4]; - - if ((address + nb) > mb_mapping->nb_coil_status) { - printf("Illegal data address %0X in read_coil_status\n", - address + nb); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_ADDRESS, response); - } else { - resp_length = build_response_basis(mb_param, &sft, response); - response[resp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0); - resp_length = response_io_status(address, nb, - mb_mapping->tab_coil_status, - response, resp_length); - } - } - break; - case FC_READ_INPUT_STATUS: { - /* Similar to coil status (but too much arguments to use a - * function) */ - int nb = (query[offset + 3] << 8) + query[offset + 4]; - - if ((address + nb) > mb_mapping->nb_input_status) { - printf("Illegal data address %0X in read_input_status\n", - address + nb); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_ADDRESS, response); - } else { - resp_length = build_response_basis(mb_param, &sft, response); - response[resp_length++] = (nb / 8) + ((nb % 8) ? 1 : 0); - resp_length = response_io_status(address, nb, - mb_mapping->tab_input_status, - response, resp_length); - } - } - break; - case FC_READ_HOLDING_REGISTERS: { - int nb = (query[offset + 3] << 8) + query[offset + 4]; - - if ((address + nb) > mb_mapping->nb_holding_registers) { - printf("Illegal data address %0X in read_holding_registers\n", - address + nb); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_ADDRESS, response); - } else { - int i; - - resp_length = build_response_basis(mb_param, &sft, response); - response[resp_length++] = nb << 1; - for (i = address; i < address + nb; i++) { - response[resp_length++] = mb_mapping->tab_holding_registers[i] >> 8; - response[resp_length++] = mb_mapping->tab_holding_registers[i] & 0xFF; - } - } - } - break; - case FC_READ_INPUT_REGISTERS: { - /* Similar to holding registers (but too much arguments to use a - * function) */ - int nb = (query[offset + 3] << 8) + query[offset + 4]; - - if ((address + nb) > mb_mapping->nb_input_registers) { - printf("Illegal data address %0X in read_input_registers\n", - address + nb); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_ADDRESS, response); - } else { - int i; - - resp_length = build_response_basis(mb_param, &sft, response); - response[resp_length++] = nb << 1; - for (i = address; i < address + nb; i++) { - response[resp_length++] = mb_mapping->tab_input_registers[i] >> 8; - response[resp_length++] = mb_mapping->tab_input_registers[i] & 0xFF; - } - } - } - break; - case FC_FORCE_SINGLE_COIL: - if (address >= mb_mapping->nb_coil_status) { - printf("Illegal data address %0X in force_singe_coil\n", address); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_ADDRESS, response); - } else { - int data = (query[offset + 3] << 8) + query[offset + 4]; - - if (data == 0xFF00 || data == 0x0) { - mb_mapping->tab_coil_status[address] = (data) ? ON : OFF; - - /* In RTU mode, the CRC is computed and added - to the query by modbus_send, the computed - CRC will be same and optimisation is - possible here (FIXME). */ - memcpy(response, query, query_length); - resp_length = query_length; - } else { - printf("Illegal data value %0X in force_single_coil request at address %0X\n", - data, address); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_VALUE, response); - } - } - break; - case FC_PRESET_SINGLE_REGISTER: - if (address >= mb_mapping->nb_holding_registers) { - printf("Illegal data address %0X in preset_holding_register\n", address); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_ADDRESS, response); - } else { - int data = (query[offset + 3] << 8) + query[offset + 4]; - - mb_mapping->tab_holding_registers[address] = data; - memcpy(response, query, query_length); - resp_length = query_length; - } - break; - case FC_FORCE_MULTIPLE_COILS: { - int nb = (query[offset + 3] << 8) + query[offset + 4]; - - if ((address + nb) > mb_mapping->nb_coil_status) { - printf("Illegal data address %0X in force_multiple_coils\n", - address + nb); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_ADDRESS, response); - } else { - /* 6 = byte count */ - set_bits_from_bytes(mb_mapping->tab_coil_status, address, nb, &query[offset + 6]); - - resp_length = build_response_basis(mb_param, &sft, response); - /* 4 to copy the coil address (2) and the quantity of coils */ - memcpy(response + resp_length, query + resp_length, 4); - resp_length += 4; - } - } - break; - case FC_PRESET_MULTIPLE_REGISTERS: { - int nb = (query[offset + 3] << 8) + query[offset + 4]; - - if ((address + nb) > mb_mapping->nb_holding_registers) { - printf("Illegal data address %0X in preset_multiple_registers\n", - address + nb); - resp_length = response_exception(mb_param, &sft, - ILLEGAL_DATA_ADDRESS, response); - } else { - int i, j; - for (i = address, j = 6; i < address + nb; i++, j += 2) { - /* 6 and 7 = first value */ - mb_mapping->tab_holding_registers[i] = - (query[offset + j] << 8) + query[offset + j + 1]; - } - - resp_length = build_response_basis(mb_param, &sft, response); - /* 4 to copy the address (2) and the no. of registers */ - memcpy(response + resp_length, query + resp_length, 4); - resp_length += 4; - } - } - break; - case FC_READ_EXCEPTION_STATUS: - case FC_REPORT_SLAVE_ID: - printf("Not implemented\n"); - break; - } - - modbus_send(mb_param, response, resp_length); -} - -/* Reads IO status */ -static int read_io_status(modbus_param_t *mb_param, int function, - int start_addr, int nb, uint8_t *data_dest) -{ - int ret; - int query_length; - - uint8_t query[MIN_QUERY_LENGTH]; - uint8_t response[MAX_MESSAGE_LENGTH]; - - query_length = build_query_basis(mb_param, function, - start_addr, nb, query); - - ret = modbus_send(mb_param, query, query_length); - if (ret > 0) { - int i, temp, bit; - int pos = 0; - int offset; - int offset_end; - - ret = modbus_receive(mb_param, query, response); - if (ret < 0) - return ret; - - offset = TAB_HEADER_LENGTH[mb_param->type_com]; - offset_end = offset + ret; - for (i = offset; i < offset_end; i++) { - /* Shift reg hi_byte to temp */ - temp = response[i + 2]; - - for (bit = 0x01; (bit & 0xff) && (pos < nb);) { - data_dest[pos++] = (temp & bit) ? TRUE : FALSE; - bit = bit << 1; - } - - } - } - - return ret; -} - -/* 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 start_addr, - int nb, uint8_t *data_dest) -{ - int status; - - if (nb > MAX_STATUS) { - printf("ERROR Too many coils status requested (%d > %d)\n", - nb, MAX_STATUS); - return INVALID_DATA; - } - - status = read_io_status(mb_param, FC_READ_COIL_STATUS, - start_addr, nb, data_dest); - - if (status > 0) - status = nb; - - return status; -} - - -/* Same as read_coil_status but reads the slaves input table */ -int read_input_status(modbus_param_t *mb_param, int start_addr, - int nb, uint8_t *data_dest) -{ - int status; - - if (nb > MAX_STATUS) { - printf("ERROR Too many input status requested (%d > %d)\n", - nb, MAX_STATUS); - return INVALID_DATA; - } - - status = read_io_status(mb_param, FC_READ_INPUT_STATUS, - start_addr, nb, data_dest); - - if (status > 0) - status = nb; - - return status; -} - -/* Reads the data from a modbus slave and put that data into an array */ -static int read_registers(modbus_param_t *mb_param, int function, - int start_addr, int nb, uint16_t *data_dest) -{ - int ret; - int query_length; - uint8_t query[MIN_QUERY_LENGTH]; - uint8_t response[MAX_MESSAGE_LENGTH]; - - if (nb > MAX_REGISTERS) { - printf("ERROR Too many holding registers requested (%d > %d)\n", - nb, MAX_REGISTERS); - return INVALID_DATA; - } - - query_length = build_query_basis(mb_param, function, - start_addr, nb, query); - - ret = modbus_send(mb_param, query, query_length); - if (ret > 0) { - int offset; - int i; - - ret = modbus_receive(mb_param, query, response); - - offset = TAB_HEADER_LENGTH[mb_param->type_com]; - - /* If ret is negative, the loop is jumped ! */ - for (i = 0; i < ret; i++) { - /* shift reg hi_byte to temp OR with lo_byte */ - data_dest[i] = (response[offset + 2 + (i << 1)] << 8) | - response[offset + 3 + (i << 1)]; - } - } - - return ret; -} - -/* Reads the holding registers in a slave and put the data into an - array */ -int read_holding_registers(modbus_param_t *mb_param, - int start_addr, int nb, uint16_t *data_dest) -{ - int status; - - if (nb > MAX_REGISTERS) { - printf("ERROR Too many holding registers requested (%d > %d)\n", - nb, MAX_REGISTERS); - return INVALID_DATA; - } - - status = read_registers(mb_param, FC_READ_HOLDING_REGISTERS, - start_addr, nb, data_dest); - return status; -} - -/* Reads the input registers in a slave and put the data into - an array */ -int read_input_registers(modbus_param_t *mb_param, int start_addr, int nb, - uint16_t *data_dest) -{ - int status; - - if (nb > MAX_REGISTERS) { - printf("ERROR Too many input registers requested (%d > %d)\n", - nb, MAX_REGISTERS); - return INVALID_DATA; - } - - status = read_registers(mb_param, FC_READ_INPUT_REGISTERS, - start_addr, nb, data_dest); - - return status; -} - -/* Sends a value to a register in a slave. - Used by force_single_coil and preset_single_register */ -static int set_single(modbus_param_t *mb_param, int function, - int addr, int value) -{ - int ret; - int query_length; - uint8_t query[MIN_QUERY_LENGTH]; - - query_length = build_query_basis(mb_param, function, - addr, value, query); - - ret = modbus_send(mb_param, query, query_length); - if (ret > 0) { - /* Used by force_single_coil and - * preset_single_register */ - uint8_t response[MIN_QUERY_LENGTH]; - ret = modbus_receive(mb_param, query, response); - } - - return ret; -} - -/* Turns ON or OFF a single coil in the slave device */ -int force_single_coil(modbus_param_t *mb_param, int coil_addr, int state) -{ - int status; - - if (state) - state = 0xFF00; - - status = set_single(mb_param, FC_FORCE_SINGLE_COIL, - coil_addr, state); - - return status; -} - -/* Sets a value in one holding register in the slave device */ -int preset_single_register(modbus_param_t *mb_param, int reg_addr, int value) -{ - int status; - - status = set_single(mb_param, FC_PRESET_SINGLE_REGISTER, - reg_addr, value); - - return status; -} - -/* Sets/resets the coils in the slave from an array in argument */ -int force_multiple_coils(modbus_param_t *mb_param, int start_addr, int nb, - const uint8_t *data_src) -{ - int ret; - int i; - int byte_count; - int query_length; - int coil_check = 0; - int pos = 0; - - uint8_t query[MAX_MESSAGE_LENGTH]; - - if (nb > MAX_STATUS) { - printf("ERROR Writing to too many coils (%d > %d)\n", - nb, MAX_STATUS); - return INVALID_DATA; - } - - query_length = build_query_basis(mb_param, FC_FORCE_MULTIPLE_COILS, - start_addr, nb, query); - byte_count = (nb / 8) + ((nb % 8) ? 1 : 0); - query[query_length++] = byte_count; - - for (i = 0; i < byte_count; i++) { - int bit; - - bit = 0x01; - query[query_length] = 0; - - while ((bit & 0xFF) && (coil_check++ < nb)) { - if (data_src[pos++]) - query[query_length] |= bit; - else - query[query_length] &=~ bit; - - bit = bit << 1; - } - query_length++; - } - - ret = modbus_send(mb_param, query, query_length); - if (ret > 0) { - uint8_t response[MAX_MESSAGE_LENGTH]; - ret = modbus_receive(mb_param, query, response); - } - - - return ret; -} - -/* Copies the values in the slave from the array given in argument */ -int preset_multiple_registers(modbus_param_t *mb_param, int start_addr, int nb, - const uint16_t *data_src) -{ - int ret; - int i; - int query_length; - int byte_count; - - uint8_t query[MAX_MESSAGE_LENGTH]; - - if (nb > MAX_REGISTERS) { - printf("ERROR Trying to write to too many registers (%d > %d)\n", - nb, MAX_REGISTERS); - return INVALID_DATA; - } - - query_length = build_query_basis(mb_param, FC_PRESET_MULTIPLE_REGISTERS, - start_addr, nb, query); - byte_count = nb * 2; - query[query_length++] = byte_count; - - for (i = 0; i < nb; i++) { - query[query_length++] = data_src[i] >> 8; - query[query_length++] = data_src[i] & 0x00FF; - } - - ret = modbus_send(mb_param, query, query_length); - if (ret > 0) { - uint8_t response[MAX_MESSAGE_LENGTH]; - ret = modbus_receive(mb_param, query, response); - } - - return ret; -} - -/* Returns the slave id! */ -int report_slave_id(modbus_param_t *mb_param, uint8_t *data_dest) -{ - int ret; - int query_length; - uint8_t query[MIN_QUERY_LENGTH]; - - query_length = build_query_basis(mb_param, FC_REPORT_SLAVE_ID, 0, 0, query); - - /* HACKISH, start_addr and count are not used */ - query_length -= 4; - - ret = modbus_send(mb_param, query, query_length); - if (ret > 0) { - int i; - int offset; - int offset_end; - uint8_t response[MAX_MESSAGE_LENGTH]; - - /* Byte count, slave id, run indicator status, - additional data */ - ret = modbus_receive(mb_param, query, response); - if (ret < 0) - return ret; - - offset = TAB_HEADER_LENGTH[mb_param->type_com] - 1; - offset_end = offset + ret; - - for (i = offset; i < offset_end; i++) - data_dest[i] = response[i]; - } - - return ret; -} - -/* Initializes the modbus_param_t structure for RTU - - device: "/dev/ttyS0" - - baud: 9600, 19200, 57600, 115200, etc - - parity: "even", "odd" or "none" - - data_bits: 5, 6, 7, 8 - - stop_bits: 1, 2 -*/ -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) -{ - memset(mb_param, 0, sizeof(modbus_param_t)); - strcpy(mb_param->device, device); - mb_param->baud = baud; - strcpy(mb_param->parity, parity); - mb_param->debug = FALSE; - mb_param->data_bit = data_bit; - mb_param->stop_bit = stop_bit; - mb_param->type_com = RTU; - mb_param->error_handling = FLUSH_OR_CONNECT_ON_ERROR; - mb_param->slave = slave; -} - -/* Initializes the modbus_param_t structure for TCP. - - ip : "192.168.0.5" - - port : 1099 - - Set the port to MODBUS_TCP_DEFAULT_PORT to use the default one - (502). It's convenient to use a port number greater than or equal - to 1024 because it's not necessary to be root to use this port - number. -*/ -void modbus_init_tcp(modbus_param_t *mb_param, const char *ip, int port, int slave) -{ - memset(mb_param, 0, sizeof(modbus_param_t)); - strncpy(mb_param->ip, ip, sizeof(char)*16); - mb_param->port = port; - mb_param->type_com = TCP; - mb_param->error_handling = FLUSH_OR_CONNECT_ON_ERROR; - mb_param->slave = slave; -} - -/* Define the slave number. - The special value MODBUS_BROADCAST_ADDRESS can be used. */ -void modbus_set_slave(modbus_param_t *mb_param, int slave) -{ - mb_param->slave = slave; -} - -/* By default, the error handling mode used is FLUSH_OR_CONNECT_ON_ERROR. - - With FLUSH_OR_CONNECT_ON_ERROR, the library will attempt an immediate - reconnection which may hang for several seconds if the network to - the remote target unit is down. - - With NOP_ON_ERROR, it is expected that the application will - check for error returns and deal with them as necessary. -*/ -void modbus_set_error_handling(modbus_param_t *mb_param, - error_handling_t error_handling) -{ - if (error_handling == FLUSH_OR_CONNECT_ON_ERROR || - error_handling == NOP_ON_ERROR) { - mb_param->error_handling = error_handling; - } else { - printf("Invalid setting for error handling (not changed)\n"); - } -} - - -/* Sets up a serial port for RTU communications */ -static int modbus_connect_rtu(modbus_param_t *mb_param) -{ - struct termios tios; - speed_t speed; - - if (mb_param->debug) { - printf("Opening %s at %d bauds (%s)\n", - mb_param->device, mb_param->baud, mb_param->parity); - } - - /* The O_NOCTTY flag tells UNIX that this program doesn't want - to be the "controlling terminal" for that port. If you - don't specify this then any input (such as keyboard abort - signals and so forth) will affect your process - - Timeouts are ignored in canonical input mode or when the - NDELAY option is set on the file via open or fcntl */ - mb_param->fd = open(mb_param->device, O_RDWR | O_NOCTTY | O_NDELAY | O_EXCL); - if (mb_param->fd < 0) { - perror("open"); - printf("ERROR Can't open the device %s (%s)\n", - mb_param->device, strerror(errno)); - return -1; - } - - /* Save */ - tcgetattr(mb_param->fd, &(mb_param->old_tios)); - - memset(&tios, 0, sizeof(struct termios)); - - /* C_ISPEED Input baud (new interface) - C_OSPEED Output baud (new interface) - */ - switch (mb_param->baud) { - case 110: - speed = B110; - break; - case 300: - speed = B300; - break; - case 600: - speed = B600; - break; - case 1200: - speed = B1200; - break; - case 2400: - speed = B2400; - break; - case 4800: - speed = B4800; - break; - case 9600: - speed = B9600; - break; - case 19200: - speed = B19200; - break; - case 38400: - speed = B38400; - break; - case 57600: - speed = B57600; - break; - case 115200: - speed = B115200; - break; - default: - speed = B9600; - printf("WARNING Unknown baud rate %d for %s (B9600 used)\n", - mb_param->baud, mb_param->device); - } - - /* Set the baud rate */ - if ((cfsetispeed(&tios, speed) < 0) || - (cfsetospeed(&tios, speed) < 0)) { - perror("cfsetispeed/cfsetospeed\n"); - return -1; - } - - /* C_CFLAG Control options - CLOCAL Local line - do not change "owner" of port - CREAD Enable receiver - */ - tios.c_cflag |= (CREAD | CLOCAL); - /* CSIZE, HUPCL, CRTSCTS (hardware flow control) */ - - /* Set data bits (5, 6, 7, 8 bits) - CSIZE Bit mask for data bits - */ - tios.c_cflag &= ~CSIZE; - switch (mb_param->data_bit) { - case 5: - tios.c_cflag |= CS5; - break; - case 6: - tios.c_cflag |= CS6; - break; - case 7: - tios.c_cflag |= CS7; - break; - case 8: - default: - tios.c_cflag |= CS8; - break; - } - - /* Stop bit (1 or 2) */ - if (mb_param->stop_bit == 1) - tios.c_cflag &=~ CSTOPB; - else /* 2 */ - tios.c_cflag |= CSTOPB; - - /* PARENB Enable parity bit - PARODD Use odd parity instead of even */ - if (strncmp(mb_param->parity, "none", 4) == 0) { - tios.c_cflag &=~ PARENB; - } else if (strncmp(mb_param->parity, "even", 4) == 0) { - tios.c_cflag |= PARENB; - tios.c_cflag &=~ PARODD; - } else { - /* odd */ - tios.c_cflag |= PARENB; - tios.c_cflag |= PARODD; - } - - /* Read the man page of termios if you need more information. */ - - /* This field isn't used on POSIX systems - tios.c_line = 0; - */ - - /* C_LFLAG Line options - - ISIG Enable SIGINTR, SIGSUSP, SIGDSUSP, and SIGQUIT signals - ICANON Enable canonical input (else raw) - XCASE Map uppercase \lowercase (obsolete) - ECHO Enable echoing of input characters - ECHOE Echo erase character as BS-SP-BS - ECHOK Echo NL after kill character - ECHONL Echo NL - NOFLSH Disable flushing of input buffers after - interrupt or quit characters - IEXTEN Enable extended functions - ECHOCTL Echo control characters as ^char and delete as ~? - ECHOPRT Echo erased character as character erased - ECHOKE BS-SP-BS entire line on line kill - FLUSHO Output being flushed - PENDIN Retype pending input at next read or input char - TOSTOP Send SIGTTOU for background output - - Canonical input is line-oriented. Input characters are put - into a buffer which can be edited interactively by the user - until a CR (carriage return) or LF (line feed) character is - received. - - Raw input is unprocessed. Input characters are passed - through exactly as they are received, when they are - received. Generally you'll deselect the ICANON, ECHO, - ECHOE, and ISIG options when using raw input - */ - - /* Raw input */ - tios.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); - - /* C_IFLAG Input options - - Constant Description - INPCK Enable parity check - IGNPAR Ignore parity errors - PARMRK Mark parity errors - ISTRIP Strip parity bits - IXON Enable software flow control (outgoing) - IXOFF Enable software flow control (incoming) - IXANY Allow any character to start flow again - IGNBRK Ignore break condition - BRKINT Send a SIGINT when a break condition is detected - INLCR Map NL to CR - IGNCR Ignore CR - ICRNL Map CR to NL - IUCLC Map uppercase to lowercase - IMAXBEL Echo BEL on input line too long - */ - if (strncmp(mb_param->parity, "none", 4) == 0) { - tios.c_iflag &= ~INPCK; - } else { - tios.c_iflag |= INPCK; - } - - /* Software flow control is disabled */ - tios.c_iflag &= ~(IXON | IXOFF | IXANY); - - /* C_OFLAG Output options - OPOST Postprocess output (not set = raw output) - ONLCR Map NL to CR-NL - - ONCLR ant others needs OPOST to be enabled - */ - - /* Raw ouput */ - tios.c_oflag &=~ OPOST; - - /* C_CC Control characters - VMIN Minimum number of characters to read - VTIME Time to wait for data (tenths of seconds) - - UNIX serial interface drivers provide the ability to - specify character and packet timeouts. Two elements of the - c_cc array are used for timeouts: VMIN and VTIME. Timeouts - are ignored in canonical input mode or when the NDELAY - option is set on the file via open or fcntl. - - VMIN specifies the minimum number of characters to read. If - it is set to 0, then the VTIME value specifies the time to - wait for every character read. Note that this does not mean - that a read call for N bytes will wait for N characters to - come in. Rather, the timeout will apply to the first - character and the read call will return the number of - characters immediately available (up to the number you - request). - - If VMIN is non-zero, VTIME specifies the time to wait for - the first character read. If a character is read within the - time given, any read will block (wait) until all VMIN - characters are read. That is, once the first character is - read, the serial interface driver expects to receive an - entire packet of characters (VMIN bytes total). If no - character is read within the time allowed, then the call to - read returns 0. This method allows you to tell the serial - driver you need exactly N bytes and any read call will - return 0 or N bytes. However, the timeout only applies to - the first character read, so if for some reason the driver - misses one character inside the N byte packet then the read - call could block forever waiting for additional input - characters. - - VTIME specifies the amount of time to wait for incoming - characters in tenths of seconds. If VTIME is set to 0 (the - default), reads will block (wait) indefinitely unless the - NDELAY option is set on the port with open or fcntl. - */ - /* Unused because we use open with the NDELAY option */ - tios.c_cc[VMIN] = 0; - tios.c_cc[VTIME] = 0; - - if (tcsetattr(mb_param->fd, TCSANOW, &tios) < 0) { - perror("tcsetattr\n"); - return -1; - } - - return 0; -} - -/* Establishes a modbus TCP connection with a modbus slave */ -static int modbus_connect_tcp(modbus_param_t *mb_param) -{ - int ret; - int option; - struct sockaddr_in addr; - - mb_param->fd = socket(PF_INET, SOCK_STREAM, 0); - if (mb_param->fd < 0) { - return mb_param->fd; - } - - /* Set the TCP no delay flag */ - /* SOL_TCP = IPPROTO_TCP */ - option = 1; - ret = setsockopt(mb_param->fd, IPPROTO_TCP, TCP_NODELAY, - (const void *)&option, sizeof(int)); - if (ret < 0) { - perror("setsockopt TCP_NODELAY"); - close(mb_param->fd); - return ret; - } - -#if (!HAVE_DECL___CYGWIN__) - /** - * Cygwin defines IPTOS_LOWDELAY but can't handle that flag so it's - * necessary to workaround that problem. - **/ - /* Set the IP low delay option */ - option = IPTOS_LOWDELAY; - ret = setsockopt(mb_param->fd, IPPROTO_IP, IP_TOS, - (const void *)&option, sizeof(int)); - if (ret < 0) { - perror("setsockopt IP_TOS"); - close(mb_param->fd); - return ret; - } -#endif - - if (mb_param->debug) { - printf("Connecting to %s\n", mb_param->ip); - } - - addr.sin_family = AF_INET; - addr.sin_port = htons(mb_param->port); - addr.sin_addr.s_addr = inet_addr(mb_param->ip); - ret = connect(mb_param->fd, (struct sockaddr *)&addr, - sizeof(struct sockaddr_in)); - if (ret < 0) { - perror("connect"); - close(mb_param->fd); - return ret; - } - - return 0; -} - -/* Establishes a modbus connexion. - Returns 0 on success or -1 on failure. */ -int modbus_connect(modbus_param_t *mb_param) -{ - int ret; - - if (mb_param->type_com == RTU) - ret = modbus_connect_rtu(mb_param); - else - ret = modbus_connect_tcp(mb_param); - - return ret; -} - -/* Closes the file descriptor in RTU mode */ -static void modbus_close_rtu(modbus_param_t *mb_param) -{ - if (tcsetattr(mb_param->fd, TCSANOW, &(mb_param->old_tios)) < 0) - perror("tcsetattr"); - - close(mb_param->fd); -} - -/* Closes the network connection and socket in TCP mode */ -static void modbus_close_tcp(modbus_param_t *mb_param) -{ - shutdown(mb_param->fd, SHUT_RDWR); - close(mb_param->fd); -} - -/* Closes a modbus connection */ -void modbus_close(modbus_param_t *mb_param) -{ - if (mb_param->type_com == RTU) - modbus_close_rtu(mb_param); - else - modbus_close_tcp(mb_param); -} - -/* Activates the debug messages */ -void modbus_set_debug(modbus_param_t *mb_param, int boolean) -{ - mb_param->debug = boolean; -} - -/* Allocates 4 arrays to store coils, input status, input registers and - holding registers. The pointers are stored in modbus_mapping structure. - - Returns 0 on success and -1 on failure. -*/ -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) -{ - /* 0X */ - mb_mapping->nb_coil_status = nb_coil_status; - mb_mapping->tab_coil_status = - (uint8_t *) malloc(nb_coil_status * sizeof(uint8_t)); - memset(mb_mapping->tab_coil_status, 0, - nb_coil_status * sizeof(uint8_t)); - if (mb_mapping->tab_coil_status == NULL) - return -1; - - /* 1X */ - mb_mapping->nb_input_status = nb_input_status; - mb_mapping->tab_input_status = - (uint8_t *) malloc(nb_input_status * sizeof(uint8_t)); - memset(mb_mapping->tab_input_status, 0, - nb_input_status * sizeof(uint8_t)); - if (mb_mapping->tab_input_status == NULL) { - free(mb_mapping->tab_coil_status); - return -1; - } - - /* 4X */ - mb_mapping->nb_holding_registers = nb_holding_registers; - mb_mapping->tab_holding_registers = - (uint16_t *) malloc(nb_holding_registers * sizeof(uint16_t)); - memset(mb_mapping->tab_holding_registers, 0, - nb_holding_registers * sizeof(uint16_t)); - if (mb_mapping->tab_holding_registers == NULL) { - free(mb_mapping->tab_coil_status); - free(mb_mapping->tab_input_status); - return -1; - } - - /* 3X */ - mb_mapping->nb_input_registers = nb_input_registers; - mb_mapping->tab_input_registers = - (uint16_t *) malloc(nb_input_registers * sizeof(uint16_t)); - memset(mb_mapping->tab_input_registers, 0, - nb_input_registers * sizeof(uint16_t)); - if (mb_mapping->tab_input_registers == NULL) { - free(mb_mapping->tab_coil_status); - free(mb_mapping->tab_input_status); - free(mb_mapping->tab_holding_registers); - return -1; - } - - return 0; -} - -/* Frees the 4 arrays */ -void modbus_mapping_free(modbus_mapping_t *mb_mapping) -{ - free(mb_mapping->tab_coil_status); - free(mb_mapping->tab_input_status); - free(mb_mapping->tab_holding_registers); - free(mb_mapping->tab_input_registers); -} - -/* Listens for any query from one or many modbus masters in TCP */ -int modbus_slave_listen_tcp(modbus_param_t *mb_param, int nb_connection) -{ - int new_socket; - int yes; - struct sockaddr_in addr; - - new_socket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP); - if (new_socket < 0) { - perror("socket"); - return -1; - } - - yes = 1; - if (setsockopt(new_socket, SOL_SOCKET, SO_REUSEADDR, - (char *) &yes, sizeof(yes)) < 0) { - perror("setsockopt"); - close(new_socket); - return -1; - } - - memset(&addr, 0, sizeof(addr)); - addr.sin_family = AF_INET; - /* If the modbus port is < to 1024, we need the setuid root. */ - addr.sin_port = htons(mb_param->port); - addr.sin_addr.s_addr = INADDR_ANY; - if (bind(new_socket, (struct sockaddr *)&addr, sizeof(addr)) < 0) { - perror("bind"); - close(new_socket); - return -1; - } - - if (listen(new_socket, nb_connection) < 0) { - perror("listen"); - close(new_socket); - return -1; - } - - return new_socket; -} - -int modbus_slave_accept_tcp(modbus_param_t *mb_param, int *socket) -{ - struct sockaddr_in addr; - socklen_t addrlen; - - addrlen = sizeof(struct sockaddr_in); - mb_param->fd = accept(*socket, (struct sockaddr *)&addr, &addrlen); - if (mb_param->fd < 0) { - perror("accept"); - close(*socket); - *socket = 0; - } else { - printf("The client %s is connected\n", - inet_ntoa(addr.sin_addr)); - } - - return mb_param->fd; -} - -/* Closes a TCP socket */ -void modbus_slave_close_tcp(int socket) -{ - shutdown(socket, SHUT_RDWR); - close(socket); -} - -/** Utils **/ - -/* Sets many input/coil status from a single byte value (all 8 bits of - the byte value are set) */ -void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value) -{ - int i; - - for (i=0; i<8; i++) { - dest[address+i] = (value & (1 << i)) ? ON : OFF; - } -} - -/* Sets many input/coil status from a table of bytes (only the bits - between address and address + nb_bits are set) */ -void set_bits_from_bytes(uint8_t *dest, int address, int nb_bits, - const uint8_t tab_byte[]) -{ - int i; - int shift = 0; - - for (i = address; i < address + nb_bits; i++) { - dest[i] = tab_byte[(i - address) / 8] & (1 << shift) ? ON : OFF; - /* gcc doesn't like: shift = (++shift) % 8; */ - shift++; - shift %= 8; - } -} - -/* Gets the byte value from many input/coil status. - To obtain a full byte, set nb_bits to 8. */ -uint8_t get_byte_from_bits(const uint8_t *src, int address, int nb_bits) -{ - int i; - uint8_t value = 0; - - if (nb_bits > 8) { - printf("Error: nb_bits is too big\n"); - nb_bits = 8; - } - - for (i=0; i < nb_bits; i++) { - value |= (src[address+i] << i); - } - - return value; -} - -/* Read a float from 4 bytes in Modbus format */ -float modbus_read_float(const uint16_t *src) -{ - float r = 0.0f; - uint32_t i; - - i = (((uint32_t)src[1]) << 16) + src[0]; - memcpy(&r, &i, sizeof (r)); - return r; -} - -/* Write a float to 4 bytes in Modbus format */ -void modbus_write_float(float real, uint16_t *dest) -{ - uint32_t i = 0; - - memcpy(&i, &real, sizeof (i)); - dest[0] = (uint16_t)i; - dest[1] = (uint16_t)(i >> 16); -} diff --git a/src/modbus.h b/src/modbus.h deleted file mode 100644 index ea74b9c..0000000 --- a/src/modbus.h +++ /dev/null @@ -1,373 +0,0 @@ -/* - * Copyright © 2001-2010 Stéphane Raimbault - * - * 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 . - */ - -#ifndef _MODBUS_H_ -#define _MODBUS_H_ - -#ifdef HAVE_INTTYPES_H -#include -#endif -#ifdef HAVE_STDINT_H -#include -#endif -#include -#if defined(__FreeBSD__ ) && __FreeBSD__ < 5 -#include -#endif -#include -#include -#include -#include - -#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 - -/* 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 INVALID_DATA -0x10 -#define INVALID_CRC -0x11 -#define INVALID_EXCEPTION_CODE -0x12 - -#define SELECT_TIMEOUT -0x13 -#define SELECT_FAILURE -0x14 -#define SOCKET_FAILURE -0x15 -#define CONNECTION_CLOSED -0x16 -#define MB_EXCEPTION -0x17 - -/* Internal using */ -#define MSG_LENGTH_UNDEFINED -1 - -typedef enum { RTU=0, TCP } type_com_t; -typedef enum { FLUSH_OR_CONNECT_ON_ERROR, NOP_ON_ERROR } error_handling_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_handling; - /* 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; - - -/* 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 start_addr, int nb, - uint8_t *dest); - -/* Same as read_coil_status but reads the slaves input table */ -int read_input_status(modbus_param_t *mb_param, int start_addr, int nb, - uint8_t *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 start_addr, int nb, - uint16_t *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 start_addr, int nb, - uint16_t *dest); - -/* Turns ON or OFF a single coil in the slave device */ -int force_single_coil(modbus_param_t *mb_param, 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 reg_addr, int value); - -/* Sets/resets the coils in the slave from an array in argument */ -int force_multiple_coils(modbus_param_t *mb_param, int start_addr, int nb, - const uint8_t *data); - -/* Copies the values in the slave from the array given in argument */ -int preset_multiple_registers(modbus_param_t *mb_param, int start_addr, int nb, - const uint16_t *data); - -/* Returns the slave id! */ -int report_slave_id(modbus_param_t *mb_param, uint8_t *dest); - -/* Initializes the modbus_param_t structure for RTU. - - device: "/dev/ttyS0" - - baud: 9600, 19200, 57600, 115200, etc - - parity: "even", "odd" or "none" - - data_bits: 5, 6, 7, 8 - - stop_bits: 1, 2 -*/ -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); - -/* Initializes the modbus_param_t structure for TCP. - - ip: "192.168.0.5" - - port: 1099 - - slave: 5 - - Set the port to MODBUS_TCP_DEFAULT_PORT to use the default one - (502). It's convenient to use a port number greater than or equal - to 1024 because it's not necessary to be root to use this port - number. -*/ -void modbus_init_tcp(modbus_param_t *mb_param, const char *ip_address, int port, - int slave); - -/* Define the slave number. - The special value MODBUS_BROADCAST_ADDRESS can be used. */ -void modbus_set_slave(modbus_param_t *mb_param, int slave); - -/* By default, the error handling mode used is CONNECT_ON_ERROR. - - With FLUSH_OR_CONNECT_ON_ERROR, the library will attempt an immediate - reconnection which may hang for several seconds if the network to - the remote target unit is down. - - With NOP_ON_ERROR, it is expected that the application will - check for network error returns and deal with them as necessary. - - This function is only useful in TCP mode. - */ -void modbus_set_error_handling(modbus_param_t *mb_param, error_handling_t error_handling); - -/* Establishes a modbus connexion. - Returns 0 on success or -1 on failure. */ -int modbus_connect(modbus_param_t *mb_param); - -/* Closes a modbus connection */ -void modbus_close(modbus_param_t *mb_param); - -/* Flush the pending request */ -void modbus_flush(modbus_param_t *mb_param); - -/* Activates the debug messages */ -void modbus_set_debug(modbus_param_t *mb_param, int boolean); - -/** - * SLAVE/CLIENT FUNCTIONS - **/ - -/* Allocates 4 arrays to store coils, input status, input registers and - holding registers. The pointers are stored in modbus_mapping structure. - - Returns 0 on success and -1 on failure - */ -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); - -/* Frees the 4 arrays */ -void modbus_mapping_free(modbus_mapping_t *mb_mapping); - -/* Listens for any query from one or many modbus masters in TCP. - - Returns: socket - */ -int modbus_slave_listen_tcp(modbus_param_t *mb_param, int nb_connection); - -/* Waits for a connection */ -int modbus_slave_accept_tcp(modbus_param_t *mb_param, int *socket); - -/* Listens for any query from a modbus master in TCP, requires the socket file - descriptor etablished with the master device in argument or -1 to use the - internal one of modbus_param_t. - - Returns: - - byte length of the message on success, or a negative error number if the - request fails - - query, message received -*/ -int modbus_slave_receive(modbus_param_t *mb_param, int sockfd, uint8_t *query); - -/* Manages the received query. - Analyses the query and constructs a response. - - If an error occurs, this function construct the response - accordingly. -*/ -void modbus_slave_manage(modbus_param_t *mb_param, const uint8_t *query, - int query_length, modbus_mapping_t *mb_mapping); - -/* Closes a TCP socket */ -void modbus_slave_close_tcp(int socket); - -/** - * UTILS FUNCTIONS - **/ - -/* Sets many input/coil status from a single byte value (all 8 bits of - the byte value are set) */ -void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value); - -/* Sets many input/coil status from a table of bytes (only the bits - between address and address + nb_bits are set) */ -void set_bits_from_bytes(uint8_t *dest, int address, int nb_bits, - const uint8_t *tab_byte); - -/* Gets the byte value from many input/coil status. - To obtain a full byte, set nb_bits to 8. */ -uint8_t get_byte_from_bits(const uint8_t *src, int address, int nb_bits); - -/* Read a float from 4 bytes in Modbus format */ -float modbus_read_float(const uint16_t *src); - -/* Write a float to 4 bytes in Modbus format */ -void modbus_write_float(float real, uint16_t *dest); - -#ifdef __cplusplus -} -#endif - -#endif /* _MODBUS_H_ */ diff --git a/tests/Makefile.am b/tests/Makefile.am index 73f37a5..46185e4 100644 --- a/tests/Makefile.am +++ b/tests/Makefile.am @@ -10,7 +10,7 @@ noinst_PROGRAMS = \ bandwidth-master common_ldflags = \ - $(top_builddir)/src/libmodbus.la + $(top_builddir)/modbus/libmodbus.la random_test_slave_SOURCES = random-test-slave.c random_test_slave_LDADD = $(common_ldflags) @@ -33,5 +33,5 @@ bandwidth_slave_many_up_LDADD = $(common_ldflags) bandwidth_master_SOURCES = bandwidth-master.c bandwidth_master_LDADD = $(common_ldflags) -INCLUDES = -I$(top_srcdir) -I$(top_srcdir)/src +INCLUDES = -I$(top_srcdir) CLEANFILES = *~ diff --git a/tests/bandwidth-master.c b/tests/bandwidth-master.c index 6f8a8e4..37d6a92 100644 --- a/tests/bandwidth-master.c +++ b/tests/bandwidth-master.c @@ -1,5 +1,5 @@ /* - * Copyright © 2008 Stéphane Raimbault + * Copyright © 2008-2010 Stéphane Raimbault * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -22,7 +22,7 @@ #include #include -#include "modbus.h" +#include /* Tests based on PI-MBUS-300 documentation */ #define SLAVE 0x11 diff --git a/tests/bandwidth-slave-many-up.c b/tests/bandwidth-slave-many-up.c index fcfc2e1..eee24e3 100644 --- a/tests/bandwidth-slave-many-up.c +++ b/tests/bandwidth-slave-many-up.c @@ -1,5 +1,5 @@ /* - * Copyright © 2009 Stéphane Raimbault + * Copyright © 2009-2010 Stéphane Raimbault * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -22,7 +22,7 @@ #include #include -#include "modbus.h" +#include #define SLAVE 0x11 #define NB_CONNECTION 5 diff --git a/tests/bandwidth-slave-one.c b/tests/bandwidth-slave-one.c index 1f39944..a626372 100644 --- a/tests/bandwidth-slave-one.c +++ b/tests/bandwidth-slave-one.c @@ -1,5 +1,5 @@ /* - * Copyright © 2008 Stéphane Raimbault + * Copyright © 2008-2010 Stéphane Raimbault * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,7 +20,7 @@ #include #include -#include "modbus.h" +#include #define SLAVE 0x11 diff --git a/tests/random-test-master.c b/tests/random-test-master.c index e54ef00..cf2557b 100644 --- a/tests/random-test-master.c +++ b/tests/random-test-master.c @@ -1,5 +1,5 @@ /* - * Copyright © 2001-2008 Stéphane Raimbault + * Copyright © 2001-2010 Stéphane Raimbault * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,7 +20,7 @@ #include #include -#include "modbus.h" +#include /* The goal of this program is to check all major functions of libmodbus: diff --git a/tests/random-test-slave.c b/tests/random-test-slave.c index 086e612..032f324 100644 --- a/tests/random-test-slave.c +++ b/tests/random-test-slave.c @@ -1,5 +1,5 @@ /* - * Copyright © 2008 Stéphane Raimbault + * Copyright © 2008-2010 Stéphane Raimbault * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -19,7 +19,7 @@ #include #include -#include "modbus.h" +#include #define SLAVE 0x11 diff --git a/tests/unit-test-master.c b/tests/unit-test-master.c index 309dab9..48852e1 100644 --- a/tests/unit-test-master.c +++ b/tests/unit-test-master.c @@ -1,5 +1,5 @@ /* - * Copyright © 2008 Stéphane Raimbault + * Copyright © 2008-2010 Stéphane Raimbault * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,7 +20,7 @@ #include #include -#include "modbus.h" +#include #include "unit-test.h" /* Tests based on PI-MBUS-300 documentation */ diff --git a/tests/unit-test-slave.c b/tests/unit-test-slave.c index 6294cf7..ca8ec2f 100644 --- a/tests/unit-test-slave.c +++ b/tests/unit-test-slave.c @@ -1,5 +1,5 @@ /* - * Copyright © 2008 Stéphane Raimbault + * Copyright © 2008-2010 Stéphane Raimbault * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,7 +20,7 @@ #include #include -#include "modbus.h" +#include #include "unit-test.h" int main(void) -- libgit2 0.21.4