From f7cb1f06ce8ddeac709dc7a6f4c4784e7e0ef80d Mon Sep 17 00:00:00 2001 From: Stephane Raimbault Date: Sat, 10 Sep 2005 09:49:54 +0000 Subject: [PATCH] initial import --- AUTHORS | 1 + COPYING | 340 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ COPYING.LIB | 481 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ ChangeLog | 0 INSTALL | 231 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ Makefile.am | 1 + NEWS | 0 README | 8 ++++++++ autogen.sh | 71 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ configure.ac | 34 ++++++++++++++++++++++++++++++++++ src/Makefile.am | 12 ++++++++++++ src/modbus.c | 1334 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ src/modbus.h | 199 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ src/test-modbus.c | 188 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 14 files changed, 2900 insertions(+), 0 deletions(-) create mode 100644 AUTHORS create mode 100644 COPYING create mode 100644 COPYING.LIB create mode 100644 ChangeLog create mode 100644 INSTALL create mode 100644 Makefile.am create mode 100644 NEWS create mode 100644 README create mode 100755 autogen.sh create mode 100644 configure.ac create mode 100644 src/Makefile.am create mode 100644 src/modbus.c create mode 100644 src/modbus.h create mode 100644 src/test-modbus.c diff --git a/AUTHORS b/AUTHORS new file mode 100644 index 0000000..b9e2f40 --- /dev/null +++ b/AUTHORS @@ -0,0 +1 @@ +Stéphane Raimbault diff --git a/COPYING b/COPYING new file mode 100644 index 0000000..d60c31a --- /dev/null +++ b/COPYING @@ -0,0 +1,340 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc. + 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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For example: + + ./configure CC=/usr/local2/bin/gcc + +will cause the specified gcc to be used as the C compiler (unless it is +overridden in the site shell script). + +`configure' Invocation +====================== + +`configure' recognizes the following options to control how it operates. + +`--help' +`-h' + Print a summary of the options to `configure', and exit. + +`--version' +`-V' + Print the version of Autoconf used to generate the `configure' + script, and exit. + +`--cache-file=FILE' + Enable the cache: use and save the results of the tests in FILE, + traditionally `config.cache'. FILE defaults to `/dev/null' to + disable caching. + +`--config-cache' +`-C' + Alias for `--cache-file=config.cache'. + +`--quiet' +`--silent' +`-q' + Do not print messages saying which checks are being made. To + suppress all normal output, redirect it to `/dev/null' (any error + messages will still be shown). + +`--srcdir=DIR' + Look for the package's source code in directory DIR. Usually + `configure' can determine that directory automatically. + +`configure' also accepts some other, not widely useful, options. Run +`configure --help' for more details. + diff --git a/Makefile.am b/Makefile.am new file mode 100644 index 0000000..1bfdcf4 --- /dev/null +++ b/Makefile.am @@ -0,0 +1 @@ +SUBDIRS=src diff --git a/NEWS b/NEWS new file mode 100644 index 0000000..e69de29 --- /dev/null +++ b/NEWS diff --git a/README b/README new file mode 100644 index 0000000..fc0f906 --- /dev/null +++ b/README @@ -0,0 +1,8 @@ +Libmodbus is a library to send/receive data with a device which uses +ModBus protocol. This library can use a serial port or an Ethernet +connexion. + +The functions included in the library have been derived from the +Modicon Modbus Protocol Reference Guide which can be obtained from +Schneider at www.schneiderautomation.com. + diff --git a/autogen.sh b/autogen.sh new file mode 100755 index 0000000..4f81538 --- /dev/null +++ b/autogen.sh @@ -0,0 +1,71 @@ +#!/bin/sh +# Run this to generate all the initial makefiles, etc. + +srcdir=`dirname $0` +test -z "$srcdir" && srcdir=. +ORIGDIR=`pwd` +cd $srcdir + +PROJECT=libGtkEntryMask + +DIE=0 + +have_libtool=false +if libtoolize --version < /dev/null > /dev/null 2>&1 ; then + libtool_version=`libtoolize --version | sed 's/^[^0-9]*\([0-9.][0-9.]*\).*/\1/'` + case $libtool_version in + 1.4*|1.5*) + have_libtool=true + ;; + esac +fi +if $have_libtool ; then : ; else + echo + echo "You must have libtool 1.4 installed to compile $PROJECT." + echo "Install the appropriate package for your distribution," + echo "or get the source tarball at http://ftp.gnu.org/gnu/libtool/" + DIE=1 +fi + +(autoconf --version) < /dev/null > /dev/null 2>&1 || { + echo + echo "You must have autoconf installed to compile $PROJECT." + echo "Install the appropriate package for your distribution," + echo "or get the source tarball at http://ftp.gnu.org/gnu/autoconf/" + DIE=1 +} + +if automake-1.7 --version < /dev/null > /dev/null 2>&1 ; then + AUTOMAKE=automake-1.7 + ACLOCAL=aclocal-1.7 +else + echo + echo "You must have automake 1.7.x installed to compile $PROJECT." + echo "Install the appropriate package for your distribution," + echo "or get the source tarball at http://ftp.gnu.org/gnu/automake/" + DIE=1 +fi + +if test "$DIE" -eq 1; then + exit 1 +fi + +if test -z "$AUTOGEN_SUBDIR_MODE"; then + if test -z "$*"; then + echo "I am going to run ./configure with no arguments - if you wish " + echo "to pass any to it, please specify them on the $0 command line." + fi +fi + +$ACLOCAL $ACLOCAL_FLAGS || exit 1 +libtoolize --force || exit 1 +$AUTOMAKE --add-missing || exit 1 +autoconf || exit 1 +cd $ORIGDIR + +if test -z "$AUTOGEN_SUBDIR_MODE"; then + $srcdir/configure --enable-maintainer-mode "$@" + + echo + echo "Now type 'make' to compile $PROJECT." +fi diff --git a/configure.ac b/configure.ac new file mode 100644 index 0000000..211ae10 --- /dev/null +++ b/configure.ac @@ -0,0 +1,34 @@ +# -*- Autoconf -*- +# Process this file with autoconf to produce a configure script. + +AC_PREREQ(2.59) +AC_INIT(libmodbus, 1.2, stephane.raimbault@free.fr) +AM_INIT_AUTOMAKE(libmodbus, 1.2.0) + +# Checks for programs. +AC_PROG_CC +AC_PROG_MAKE_SET +AC_PROG_LIBTOOL + +# Checks for libraries. +AM_PATH_GLIB_2_0(2.0.0,,AC_MSG_ERROR(libmodbus needs GLib 2.X)) + +# Checks for header files. +AC_HEADER_STDC +AC_CHECK_HEADERS([arpa/inet.h fcntl.h netinet/in.h stdlib.h string.h sys/ioctl.h sys/socket.h sys/time.h termio.h termios.h unistd.h]) + +# Checks for typedefs, structures, and compiler characteristics. +AC_C_CONST +AC_TYPE_SIZE_T +AC_HEADER_TIME + +# Checks for library functions. +AC_FUNC_MALLOC +AC_FUNC_SELECT_ARGTYPES +AC_CHECK_FUNCS([inet_ntoa memset select socket]) + +AC_CONFIG_FILES([ + Makefile + src/Makefile + ]) +AC_OUTPUT diff --git a/src/Makefile.am b/src/Makefile.am new file mode 100644 index 0000000..a8c71a1 --- /dev/null +++ b/src/Makefile.am @@ -0,0 +1,12 @@ +lib_LTLIBRARIES = libmodbus.la +libmodbus_la_SOURCES = modbus.c modbus.h + +bin_PROGRAMS = test-modbus +test_modbus_SOURCES = test-modbus.c +test_modbus_INCLUDES = @GLIB_CFLAGS@ +test_modbus_LDADD = libmodbus.la @GLIB_LIBS@ + +INCLUDES = @GLIB_CFLAGS@ +LDADD = @GLIB_LIBS@ +CLEANFILES = *~ + diff --git a/src/modbus.c b/src/modbus.c new file mode 100644 index 0000000..a68ddfc --- /dev/null +++ b/src/modbus.c @@ -0,0 +1,1334 @@ +/* + Copyright (C) 2001-2005 Stéphane Raimbault + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + + The functions included here have been derived from 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 +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* TCP */ +#include +#include +#include +#include +#include +#include + +#include "modbus.h" + +#define UNKNOWN_ERROR_MSG "Not defined in modbus specification" + +static const int SIZE_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 unsigned char 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 unsigned char 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 +}; + +/* Local declaration */ +static int read_reg_response(modbus_param_t *mb_param, + int *data_dest, + unsigned char *query); + +static void error_treat(int ret, const char *message, modbus_param_t *mb_param) +{ + if (ret == -1) + perror(message); + g_print("\n\nERROR %s\n\n", message); + + if (mb_param->type_com == RTU) { + tcflush(mb_param->fd, TCIOFLUSH); + } else { + modbus_close(mb_param); + modbus_connect(mb_param); + } +} + +static unsigned int compute_response_size(modbus_param_t *mb_param, + unsigned char *query) +{ + int response_size_computed; + int offset; + + offset = mb_param->header_length; + + switch (query[offset + 1]) { + case 0x01: { + /* Header + nb values (code from force_multiple_coils) */ + int coil_count = (query[offset + 4] << 8) | query[offset + 5]; + response_size_computed = 3 + + (coil_count / 8) + ((coil_count % 8) ? 1 : 0); + } break; + case 0x03: + /* Header + 2 * nb values */ + response_size_computed = 3 + + 2 * (query[offset + 4] << 8 | query[offset + 5]); + break; + case 0x07: + response_size_computed = 4; + break; + default: + response_size_computed = 6; + } + + response_size_computed += offset + mb_param->checksum_size; + + return response_size_computed; +} + +/* The following functions construct the required query into + a modbus query packet */ +int build_request_packet_rtu(int slave, int function, int start_addr, + int count, unsigned char *packet) +{ + packet[0] = slave; + packet[1] = function; + packet[2] = start_addr >> 8; + packet[3] = start_addr & 0x00ff; + packet[4] = count >> 8; + packet[5] = count & 0x00ff; + + return PRESET_QUERY_SIZE_RTU; +} + +int build_request_packet_tcp(int slave, int function, int start_addr, + int count, unsigned char *packet) +{ + static unsigned short t_id = 0; + + /* Transaction ID */ + if (t_id < USHRT_MAX) + t_id++; + else + t_id = 0; + packet[0] = t_id >> 8; + packet[1] = t_id & 0x00ff; + + /* Protocol Modbus */ + packet[2] = 0; + packet[3] = 0; + + /* Length to fix later with set_packet_length_tcp (4 and 5) */ + + packet[6] = 0xFF; + packet[7] = function; + packet[8] = start_addr >> 8; + packet[9] = start_addr & 0x00ff; + packet[10] = count >> 8; + packet[11] = count & 0x00ff; + + return PRESET_QUERY_SIZE_TCP; +} + +void set_packet_length_tcp(unsigned char *packet, size_t packet_size) +{ + unsigned short mbap_length; + + /* Substract MBAP header length */ + mbap_length = packet_size - 6; + + packet[4] = mbap_length >> 8; + packet[5] = mbap_length & 0x00FF; +} + +int build_request_packet(modbus_param_t *mb_param, int slave, + int function, int start_addr, + int count, unsigned char *packet) +{ + if (mb_param->type_com == RTU) + return build_request_packet_rtu(slave, function, start_addr, + count, packet); + else + return build_request_packet_tcp(slave, function, start_addr, + count, packet); +} + +/* Fast CRC */ +static unsigned short crc16(unsigned char *buffer, + unsigned short buffer_length) +{ + unsigned char crc_hi = 0xFF; /* high CRC byte initialized */ + unsigned char 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); +} + +/* Function to send a query out to a modbus slave */ +static int modbus_query(modbus_param_t *mb_param, unsigned char *query, + size_t query_size) +{ + int write_ret; + unsigned short s_crc; + int i; + + if (mb_param->type_com == RTU) { + s_crc = crc16(query, query_size); + query[query_size++] = s_crc >> 8; + query[query_size++] = s_crc & 0x00FF; + } else { + set_packet_length_tcp(query, query_size); + } + + if (mb_param->debug) { + g_print("\n"); + for (i = 0; i < query_size; i++) + g_print("[%.2X]", query[i]); + + g_print("\n"); + } + + if (mb_param->type_com == RTU) + write_ret = write(mb_param->fd, query, query_size); + else + write_ret = send(mb_param->fd, query, query_size, 0); + + /* Return the number of bytes written (0 to n) + or PORT_SOCKET_FAILURE on error */ + if ((write_ret == -1) || (write_ret != query_size)) { + error_treat(write_ret, "Write port/socket failure", mb_param); + write_ret = PORT_SOCKET_FAILURE; + } + + return write_ret; +} + +#define WAIT_DATA() \ +{ \ + while ((select_ret = select(mb_param->fd+1, &rfds, NULL, NULL, &tv)) == -1) { \ + if (errno == EINTR) { \ + g_print("A non blocked signal was caught\n"); \ + /* Necessary after an error */ \ + FD_ZERO(&rfds); \ + FD_SET(mb_param->fd, &rfds); \ + } else { \ + error_treat(select_ret, "Select failure", mb_param); \ + return SELECT_FAILURE; \ + } \ + } \ + \ + if (select_ret == 0) { \ + /* Call to error_treat is done later to manage exceptions */ \ + return COMM_TIME_OUT; \ + } \ +} + +/* Function to monitor for the reply from the modbus slave. + This function blocks for timeout seconds if there is no reply. + + Returns: + - error_code 0 == OK, < 0 == error + - (arg) total number of characters received. +*/ +int receive_response(modbus_param_t *mb_param, + int response_size_computed, + unsigned char *response, + int *response_size) +{ + int select_ret; + int read_ret; + fd_set rfds; + struct timeval tv; + int size_to_read; + unsigned char *p_response; + + if (mb_param->debug) + g_print("Waiting for response (%d)...\n", response_size_computed); + + /* Add a file descriptor to the set */ + FD_ZERO(&rfds); + FD_SET(mb_param->fd, &rfds); + + /* Wait for a response */ + tv.tv_sec = 0; + tv.tv_usec = TIME_OUT_BEGIN_OF_TRAME; + + WAIT_DATA(); + + /* Read the trame */ + (*response_size) = 0; + size_to_read = response_size_computed; + p_response = response; + + while (select_ret) { + if (mb_param->type_com == RTU) + read_ret = read(mb_param->fd, p_response, size_to_read); + else + read_ret = recv(mb_param->fd, p_response, size_to_read, 0); + + if (read_ret == -1) { + error_treat(read_ret, "Read port/socket failure", mb_param); + return PORT_SOCKET_FAILURE; + } else { + /* Sums bytes received */ + (*response_size) += read_ret; + + /* Display the hex code of each + * character received */ + if (mb_param->debug) { + int i; + for (i=0; i < read_ret; i++) + g_print("<%.2X>", p_response[i]); + } + /* Moves the pointer to receive other datas */ + p_response = &(p_response[read_ret]); + size_to_read = response_size_computed - (*response_size); + + if ((*response_size) > MAX_PACKET_SIZE) { + error_treat(0, "Too many datas", mb_param); + return TOO_MANY_DATAS; + } + } + + if (size_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) + g_print("\n"); + + /* OK */ + return 0; +} + +static int check_crc16(modbus_param_t *mb_param, + unsigned char *response, + int response_size) +{ + int ret; + + if (mb_param->type_com == RTU) { + unsigned short crc_calc; + unsigned short crc_received; + unsigned char recv_crc_hi; + unsigned char recv_crc_lo; + + crc_calc = crc16(response, response_size - 2); + + recv_crc_hi = (unsigned) response[response_size - 2]; + recv_crc_lo = (unsigned) response[response_size - 1]; + + crc_received = response[response_size - 2]; + crc_received = (unsigned) crc_received << 8; + crc_received = crc_received | + (unsigned) response[response_size - 1]; + + /* Check CRC of response */ + if (crc_calc == crc_received) { + ret = TRUE; + } else { + char *message; + message = g_strdup_printf( + "invalid crc received %0X - crc_calc %0X", + crc_received, crc_calc); + error_treat(0, message, mb_param); + g_free(message); + ret = INVALID_CRC; + } + } else { + /* In TCP, CRC doesn't exist but it doesn't check + length because it's not really useful */ + ret = TRUE; + } + + return ret; +} + +/* Function to the correct response is returned and that the checksum + is correct. + + Returns: + - the numbers of values (bits or word) if success + - less than 0 for exception errors + + Note: All functions used for sending or receiving data via modbus + return these values. +*/ + +static int modbus_response(modbus_param_t *mb_param, + unsigned char *query, + unsigned char *response) +{ + int response_size; + int response_size_computed; + int offset = mb_param->header_length; + int error_code; + + response_size_computed = compute_response_size(mb_param, query); + error_code = receive_response(mb_param, response_size_computed, + response, &response_size); + if (error_code == 0) { + /* No error */ + int ret; + + ret = check_crc16(mb_param, response, response_size); + if (ret != TRUE) + return ret; + + /* Good response */ + switch (response[offset + 1]) { + case 0x01: + case 0x02: + /* Read functions 1 value = 1 byte */ + response_size = response[offset + 2]; + break; + case 0x03: + case 0x04: + /* Read functions 1 value = 2 bytes */ + response_size = response[offset + 2] / 2; + break; + case 0x0F: + case 0x10: + /* N Write functions */ + response_size = response[offset + 4] << 8 | + response[offset + 5]; + break; + case 0x11: + /* Report slave ID (bytes received) */ + break; + default: + /* 1 Write functions & others */ + response_size = 1; + } + + } else if (error_code == COMM_TIME_OUT && + response_size == offset + 3 + mb_param->checksum_size) { + /* Optimisation allowed because exception response is + the smallest trame in modbus protocol (3) so always + raise an timeout error */ + int ret; + + /* CRC */ + ret = check_crc16(mb_param, response, response_size); + if (ret != TRUE) + return ret; + + /* Check for exception response + 0x80 + function */ + if (0x80 + query[offset + 1] == response[offset + 1]) { + + if (response[offset + 2] < SIZE_TAB_ERROR_MSG) { + error_treat(0, + TAB_ERROR_MSG[response[offset + 2]], + mb_param); + /* Modbus error code (negative) */ + return -response[offset + 2]; + } else { + /* The chances are low to hit this + case but can avoid a vicious + segfault */ + char *message; + message = g_strdup_printf( + "Invalid exception code %d", + response[offset + 2]); + error_treat(0, message, mb_param); + g_free(message); + return INVALID_EXCEPTION_CODE; + } + } + } else if (error_code == COMM_TIME_OUT) { + error_treat(0, "Communication time out", mb_param); + return COMM_TIME_OUT; + } else { + return error_code; + } + + return response_size; +} + +/* Read IO status */ +static int read_io_status(modbus_param_t *mb_param, int slave, int function, + int start_addr, int count, int *data_dest) +{ + int query_size; + int query_ret; + int response_ret; + + unsigned char query[MIN_QUERY_SIZE]; + unsigned char response[MAX_PACKET_SIZE]; + + query_size = build_request_packet(mb_param, slave, function, + start_addr, count, query); + + query_ret = modbus_query(mb_param, query, query_size); + if (query_ret > 0) { + int i, temp, bit; + int pos = 0; + int processed = 0; + int offset; + int offset_length; + + response_ret = modbus_response(mb_param, query, response); + offset = mb_param->header_length; + + offset_length = offset + response_ret; + for (i = offset; i < offset_length; i++) { + /* Shift reg hi_byte to temp */ + temp = response[3 + i]; + + for (bit = 0x01; + (bit & 0xff) && (processed < count);) { + data_dest[pos++] = + (temp & bit) ? TRUE : FALSE; + processed++; + bit = bit << 1; + } + + } + } else { + response_ret = query_ret; + } + + return response_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 slave, int start_addr, + int count, int *data_dest) +{ + int function = 0x01; + int status; + + status = read_io_status(mb_param, slave, function, start_addr, + count, data_dest); + + if (status > 0) + status = count; + + return status; +} + +/* Same as read_coil_status but reads the slaves input table */ +int read_input_status(modbus_param_t *mb_param, int slave, int start_addr, + int count, int *data_dest) +{ + int function = 0x02; + int status; + + status = read_io_status(mb_param, slave, function, start_addr, + count, data_dest); + + if (status > 0) + status = count; + + return status; +} + +/* Read the data from a modbus slave and put that data into an array */ +static int read_registers(modbus_param_t *mb_param, int slave, int function, + int start_addr, int count, int *data_dest) +{ + int query_size; + int status; + int query_ret; + unsigned char query[MIN_QUERY_SIZE]; + + query_size = build_request_packet(mb_param, slave, function, + start_addr, count, query); + + query_ret = modbus_query(mb_param, query, query_size); + if (query_ret > 0) + status = read_reg_response(mb_param, data_dest, query); + else + status = query_ret; + + return status; +} + +/* Read the holding registers in a slave and put the data into an + array */ +int read_holding_registers(modbus_param_t *mb_param, int slave, + int start_addr, int count, int *data_dest) +{ + int function = 0x03; + int status; + + if (count > MAX_READ_HOLD_REGS) { + g_print("WARNING Too many holding registers requested\n"); + count = MAX_READ_HOLD_REGS; + } + + status = read_registers(mb_param, slave, function, + start_addr, count, data_dest); + return status; +} + +/* Read the input registers in a slave and put the data into + an array */ +int read_input_registers(modbus_param_t *mb_param, int slave, + int start_addr, int count, int *data_dest) +{ + int function = 0x04; + int status; + + if (count > MAX_READ_INPUT_REGS) { + g_print("WARNING Too many input registers requested\n"); + count = MAX_READ_INPUT_REGS; + } + + status = read_registers(mb_param, slave, function, + start_addr, count, data_dest); + + return status; +} + +/* Reads the response data from a slave and puts the data into an + array */ +static int read_reg_response(modbus_param_t *mb_param, int *data_dest, + unsigned char *query) +{ + unsigned char response[MAX_PACKET_SIZE]; + int response_ret; + int offset; + int i; + + response_ret = modbus_response(mb_param, query, response); + + offset = mb_param->header_length; + + /* If response_ret is negative, the loop is jumped ! */ + for (i = 0; i < response_ret; i++) { + /* shift reg hi_byte to temp OR with lo_byte */ + data_dest[i] = response[offset + 3 + (i << 1)] << 8 | + response[offset + 4 + (i << 1)]; + } + + return response_ret; +} + +/* Gets the raw data from the input stream */ +static int preset_response(modbus_param_t *mb_param, unsigned char *query) +{ + int ret; + unsigned char response[MAX_PACKET_SIZE]; + + ret = modbus_response(mb_param, query, response); + + return ret; +} + +/* Sends a value to a register in a slave */ +static int set_single(modbus_param_t *mb_param, int slave, int function, + int addr, int value) +{ + int status; + int query_size; + int query_ret; + unsigned char query[MAX_PACKET_SIZE]; + + query_size = build_request_packet(mb_param, slave, function, + addr, value, query); + + query_ret = modbus_query(mb_param, query, query_size); + if (query_ret > 0) + status = preset_response(mb_param, query); + else + status = query_ret; + + return status; +} + + +/* Turn on or off a single coil on the slave device */ +int force_single_coil(modbus_param_t *mb_param, int slave, + int coil_addr, int state) +{ + int function = 0x05; + int status; + + if (state) + state = 0xFF00; + + status = set_single(mb_param, slave, function, 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 slave, + int reg_addr, int value) +{ + int function = 0x06; + int status; + + status = set_single(mb_param, slave, function, reg_addr, value); + + return status; +} + +/* Takes an array of ints and sets or resets the coils on a slave + appropriatly */ +int force_multiple_coils(modbus_param_t *mb_param, int slave, + int start_addr, int coil_count, + int *data_src) +{ + int function = 0x0F; + int i; + int byte_count; + int query_size; + int coil_check = 0; + int status; + int query_ret; + + unsigned char query[MAX_PACKET_SIZE]; + + if (coil_count > MAX_WRITE_COILS) { + g_print("WARNING Writing to too many coils\n"); + coil_count = MAX_WRITE_COILS; + } + + query_size = build_request_packet(mb_param, slave, function, + start_addr, coil_count, query); + byte_count = (coil_count / 8) + ((coil_count % 8) ? 1 : 0); + query[query_size++] = byte_count; + + for (i = 0; i < byte_count; i++) { + int bit; + int pos = 0; + + bit = 0x01; + query[query_size] = 0; + + while ((bit & 0xFF) && (coil_check++ < coil_count)) { + if (data_src[pos++]) + query[query_size] |= bit; + else + query[query_size] &=~ bit; + + bit = bit << 1; + } + query_size++; + } + + query_ret = modbus_query(mb_param, query, query_size); + if (query_ret > 0) + status = preset_response(mb_param, query); + else + status = query_ret; + + return status; +} + +/* Copy the values in an array to an array on the slave */ +int preset_multiple_registers(modbus_param_t *mb_param, int slave, + int start_addr, int reg_count, int *data_src) +{ + int function = 0x10; + int i; + int query_size; + int byte_count; + int status; + int query_ret; + + unsigned char query[MAX_PACKET_SIZE]; + + if (reg_count > MAX_WRITE_REGS) { + g_print("WARNING Trying to write to too many registers\n"); + reg_count = MAX_WRITE_REGS; + } + + query_size = build_request_packet(mb_param, slave, function, + start_addr, reg_count, query); + byte_count = reg_count * 2; + query[query_size++] = byte_count; + + for (i = 0; i < reg_count; i++) { + query[query_size++] = data_src[i] >> 8; + query[query_size++] = data_src[i] & 0x00FF; + } + + query_ret = modbus_query(mb_param, query, query_size); + if (query_ret > 0) + status = preset_response(mb_param, query); + else + status = query_ret; + + return status; +} + +/* Returns the slave id ! */ +int report_slave_id(modbus_param_t *mb_param, int slave, + unsigned char *data_dest) +{ + int function = 0x11; + int query_size; + int query_ret; + int response_ret; + + unsigned char query[MIN_QUERY_SIZE]; + unsigned char response[MAX_PACKET_SIZE]; + + query_size = build_request_packet(mb_param, slave, function, + 0, 0, query); + + /* start_addr and count are not used */ + query_size -= 4; + + query_ret = modbus_query(mb_param, query, query_size); + if (query_ret > 0) { + int i; + int offset; + int offset_length; + + /* Byte count, slave id, run indicator status, + additional data */ + response_ret = modbus_response(mb_param, query, response); + + offset = mb_param->header_length; + offset_length = offset + response_ret; + + for (i = offset; i < offset_length; i++) + data_dest[i] = response[i]; + } else { + response_ret = query_ret; + } + + return response_ret; +} + +/* Initialises the modbus_param_t structure for RTU */ +void modbus_init_rtu(modbus_param_t *mb_param, char *device, + int baud_i, char *parity, int data_bit, + int stop_bit) +{ + memset(mb_param, 0, sizeof(modbus_param_t)); + strcpy(mb_param->device, device); + mb_param->baud_i = baud_i; + 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->header_length = HEADER_LENGTH_RTU; + mb_param->checksum_size = CHECKSUM_SIZE_RTU; +} + +/* Initialises the modbus_param_t structure for TCP */ +void modbus_init_tcp(modbus_param_t *mb_param, char *ip) +{ + memset(mb_param, 0, sizeof(modbus_param_t)); + strncpy(mb_param->ip, ip, sizeof(char)*16); + mb_param->type_com = TCP; + mb_param->header_length = HEADER_LENGTH_TCP; + mb_param->checksum_size = CHECKSUM_SIZE_TCP; +} + + +/* This function sets up a serial port for RTU communications to + modbus */ +static int modbus_connect_rtu(modbus_param_t *mb_param) +{ + struct termios tios; + speed_t baud_rate; + + if (mb_param->debug) { + g_print("Opening %s at %d bauds (%s)\n", + mb_param->device, mb_param->baud_i, 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); + if (mb_param->fd < 0) { + perror("open"); + g_print("ERROR Opening device %s (no : %d)\n", + mb_param->device, 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_i) { + case 110: + baud_rate = B110; + break; + case 300: + baud_rate = B300; + break; + case 600: + baud_rate = B600; + break; + case 1200: + baud_rate = B1200; + break; + case 2400: + baud_rate = B2400; + break; + case 4800: + baud_rate = B4800; + break; + case 9600: + baud_rate = B9600; + break; + case 19200: + baud_rate = B19200; + break; + case 38400: + baud_rate = B38400; + break; + case 57600: + baud_rate = B57600; + break; + case 115200: + baud_rate = B115200; + break; + default: + baud_rate = B9600; + g_print("WARNING Unknown baud rate %d for %s (B9600 used)\n", + mb_param->baud_i, mb_param->device); + } + + /* Set the baud rate */ + if ((cfsetispeed(&tios, baud_rate) < 0) || + (cfsetospeed(&tios, baud_rate) < 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 your man page for the meaning of all this (man + termios). Its a bit to involved to comment here :) */ + 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; +} + +static int modbus_connect_tcp(modbus_param_t *mb_param) +{ + int ret; + int option; + struct sockaddr_in addr; + + addr.sin_family = AF_INET; + addr.sin_port = htons(MODBUS_TCP_PORT); + addr.sin_addr.s_addr = inet_addr(mb_param->ip); + + mb_param->fd = socket(AF_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, SOL_TCP, TCP_NODELAY, + (const void *)&option, sizeof(int)); + if (ret < 0) { + perror("setsockopt"); + close(mb_param->fd); + return ret; + } + + /* Set the IP low delay option */ + option = IPTOS_LOWDELAY; + ret = setsockopt(mb_param->fd, SOL_TCP, IP_TOS, + (const void *)&option, sizeof(int)); + if (ret < 0) { + perror("setsockopt"); + close(mb_param->fd); + return ret; + } + + if (mb_param->debug) { + g_print("Connecting to %s\n", 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; +} + +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; +} + +void modbus_listen_tcp(modbus_param_t *mb_param) +{ + int ret; + int new_socket; + struct sockaddr_in addr; + int addrlen; + + addr.sin_family = AF_INET; + /* The modbus port is < 1024 + This program must be made setuid root. */ + addr.sin_port = htons(MODBUS_TCP_PORT); + addr.sin_addr.s_addr = INADDR_ANY; + memset(&(addr.sin_zero), '\0', 8); + + new_socket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP); + if (new_socket < 0) { + perror("socket"); + exit(1); + } else { + g_print("Socket OK\n"); + } + + ret = bind(new_socket, (struct sockaddr *)&addr, + sizeof(struct sockaddr_in)); + if (ret < 0) { + perror("bind"); + close(new_socket); + exit(1); + } else { + g_print("Bind OK\n"); + } + + ret = listen(new_socket, 1); + if (ret != 0) { + perror("listen"); + close(new_socket); + exit(1); + } else { + g_print("Listen OK\n"); + } + + addrlen = sizeof(struct sockaddr_in); + mb_param->fd = accept(new_socket, (struct sockaddr *)&addr, &addrlen); + if (ret < 0) { + perror("accept"); + close(new_socket); + exit(1); + } else { + unsigned char response[MAX_PACKET_SIZE]; + int response_size; + + g_print("The client %s is connected\n", + inet_ntoa(addr.sin_addr)); + + receive_response(mb_param, MAX_PACKET_SIZE, + response, &response_size); + } + + close(new_socket); +} + +/* Close the file descriptor */ +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); +} + +static void modbus_close_tcp(modbus_param_t *mb_param) +{ + shutdown(mb_param->fd, SHUT_RDWR); + close(mb_param->fd); +} + +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); +} + +void modbus_set_debug(modbus_param_t *mb_param, int boolean) +{ + mb_param->debug = boolean; +} diff --git a/src/modbus.h b/src/modbus.h new file mode 100644 index 0000000..41a7f11 --- /dev/null +++ b/src/modbus.h @@ -0,0 +1,199 @@ +/* + Copyright (C) 2001-2005 Stéphane Raimbault + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + + These library of functions are designed to enable a program send and + receive data from a device that communicates using the Modbus protocol. +*/ + +#ifndef _MODBUS_H_ +#define _MODBUS_H_ + +#include +#include + +#define MODBUS_TCP_PORT 502 + +#define HEADER_LENGTH_RTU 0 +#define PRESET_QUERY_SIZE_RTU 6 + +#define HEADER_LENGTH_TCP 6 +#define PRESET_QUERY_SIZE_TCP 12 + +#define CHECKSUM_SIZE_RTU 2 +#define CHECKSUM_SIZE_TCP 0 + +/* 8 + HEADER_LENGTH_TCP */ +#define MIN_QUERY_SIZE 14 + +/* MIN_RESPONSE_LENGTH + MAX(MAX*) */ +#define MAX_PACKET_SIZE 261 + +#define MAX_READ_STATUS 800 +#define MAX_READ_HOLD_REGS 100 +#define MAX_READ_INPUT_REGS 100 +#define MAX_WRITE_COILS 800 +#define MAX_WRITE_REGS 100 + +#define REPORT_SLAVE_ID_SIZE 75 + +/* Time out between trames in microsecond */ +#define TIME_OUT_BEGIN_OF_TRAME 500000 +#define TIME_OUT_END_OF_TRAME 500000 + +#ifndef FALSE +#define FALSE 0 +#endif + +#ifndef TRUE +#define TRUE 1 +#endif + +/* Protocol exceptions */ +#define ILLEGAL_FUNCTION -0x01 +#define ILLEGAL_DATA_ADDRESS -0x02 +#define ILLEGAL_DATA_VALUE -0x03 +#define SLAVE_DEVICE_FAILURE -0x04 +#define SERVER_FAILURE -0x04 +#define ACKNOWLEDGE -0x05 +#define SLAVE_DEVICE_BUSY -0x06 +#define SERVER_BUSY -0x06 +#define NEGATIVE_ACKNOWLEDGE -0x07 +#define MEMORY_PARITY_ERROR -0x08 +#define GATEWAY_PROBLEM_PATH -0x0A +#define GATEWAY_PROBLEM_TARGET -0x0B + +/* Local */ +#define COMM_TIME_OUT -0x0C +#define PORT_SOCKET_FAILURE -0x0D +#define SELECT_FAILURE -0x0E +#define TOO_MANY_DATAS -0x0F +#define INVALID_CRC -0x10 +#define INVALID_EXCEPTION_CODE -0x11 + +typedef enum { RTU, TCP } type_com_t; + +typedef struct _modbus_param_t { + /* Communication : RTU or TCP */ + type_com_t type_com; + /* Device: "/dev/ttyS0" */ + char device[11]; + /* Bauds: 19200 */ + int baud_i; + /* Parity: "even", "odd", "none" */ + char parity[5]; + /* Data bit */ + int data_bit; + /* Stop bit */ + int stop_bit; + /* Save old termios settings */ + struct termios old_tios; + /* Descriptor (tty or socket) */ + int fd; + /* Flag debug */ + int debug; + /* IP address */ + char ip[16]; + /* Header length used for offset */ + int header_length; + /* Checksum size RTU = 2 and TCP = 0 */ + int checksum_size; +} modbus_param_t; + +/* All functions used for sending or receiving data return : + - the numbers of values (bits or word) if success (0 or more) + - less than 0 for exceptions errors +*/ + +/* Reads the boolean status of coils and sets the array elements in + the destination to TRUE or FALSE */ +int read_coil_status(modbus_param_t *mb_param, int slave, + int start_addr, int count, int *dest); + +/* Same as read_coil_status but reads the slaves input table */ +int read_input_status(modbus_param_t *mb_param, int slave, + int start_addr, int count, int *dest); + +/* Read the holding registers in a slave and put the data into an + array */ +int read_holding_registers(modbus_param_t *mb_param, int slave, + int start_addr, int count, int *dest); + + +/* Read the input registers in a slave and put the data into an + array */ +int read_input_registers(modbus_param_t *mb_param, int slave, + int start_addr, int count, int *dest); + +/* Turn on or off a single coil on the slave device */ +int force_single_coil(modbus_param_t *mb_param, int slave, + int coil_addr, int state); + +/* Sets a value in one holding register in the slave device */ +int preset_single_register(modbus_param_t *mb_param, int slave, + int reg_addr, int value); + +/* Takes an array of ints and sets or resets the coils on a slave + appropriatly */ +int force_multiple_coils(modbus_param_t *mb_param, int slave, + int start_addr, int coil_count, int *data); + +/* Copy the values in an array to an array on the slave */ +int preset_multiple_registers(modbus_param_t *mb_param, int slave, + int start_addr, int reg_count, int *data); + +/* Returns some useful information about the modbus controller */ +int report_slave_id(modbus_param_t *mb_param, int slave, + unsigned char *dest); + +/* Initialises a parameters structure + - device : "/dev/ttyS0" + - baud : 19200 + - parity : "even", "odd" or "none" + - data_bits : 5, 6, 7, 8 + - stop_bits : 1, 2 +*/ +void modbus_init_rtu(modbus_param_t *mb_param, char *device, + int baud, char *parity, int data_bit, + int stop_bit); +/* Initialises a parameters structure for TCP + - ip : "192.168.0.5" */ +void modbus_init_tcp(modbus_param_t *mb_param, char *ip_address); + + +/* This function sets up a serial port for RTU communications to + modbus or a TCP connexion */ +int modbus_connect(modbus_param_t *mb_param); + +/* This function closes the serial port and restores the previous port + configuration or close the TCP connexion */ +void modbus_close(modbus_param_t *mb_param); + +/* Set in debug mode */ +void modbus_set_debug(modbus_param_t *mb_param, int boolean); + +/* Useful for a 'daemon' */ +void modbus_listen_tcp(modbus_param_t *mb_param); + +/* Non implemented : + - read_exception_status() +*/ + +/* Find out what a master is trying to ask this slave device */ +int get_slave_query_tcp(modbus_param_t *mb_param, int *slave_addr, int *query, + int *start_addr, int *point_count, int *data); + +#endif /* _MODBUS_H_ */ diff --git a/src/test-modbus.c b/src/test-modbus.c new file mode 100644 index 0000000..46cb616 --- /dev/null +++ b/src/test-modbus.c @@ -0,0 +1,188 @@ +/* + Copyright (C) 2001-2005 Stéphane Raimbault + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + + These library of functions are designed to enable a program send and + receive data from a device that communicates using the Modbus protocol. +*/ + +#include +#include +#include +#include + +#include + +#define LOOP 1 +#define SLAVE 1 +#define ADDR_MIN 100 +#define ADDR_MAX 150 +#define FIELDS 50 + +int main(void) +{ + int ok, fail; + int loop_nb; + int addr; + int field_nb; + int *tab_rq; + int *tab_rq_bits; + int *tab_rp; + modbus_param_t mb_param; + + /* RTU parity : none, even, odd */ +/* modbus_init_rtu(&mb_param, "/dev/ttyS0", 19200, "none", 8, 1); */ + + /* TCP */ + modbus_init_tcp(&mb_param, "192.168.0.100"); + modbus_set_debug(&mb_param, TRUE); + + modbus_connect(&mb_param); + + tab_rq = (int *) malloc(FIELDS * sizeof(int)); + tab_rq_bits = (int *) malloc(FIELDS * sizeof(int)); + tab_rp = (int *) malloc(FIELDS * sizeof(int)); + + loop_nb = ok = fail = 0; + while (loop_nb++ < LOOP) { + for (addr=ADDR_MIN; addr <= ADDR_MAX; addr++) { + for (field_nb=1; field_nb<=FIELDS; field_nb++) { + int i; + + /* Random numbers (short) */ + for (i=0; i