/* * 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 /* Random number to avoid errno conflicts */ #define MODBUS_ENOBASE 112345678 /* Protocol exceptions */ enum { MODBUS_EXCEPTION_ILLEGAL_FUNCTION = 0x01, MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS, MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE, MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE, MODBUS_EXCEPTION_ACKNOWLEDGE, MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY, MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE, MODBUS_EXCEPTION_MEMORY_PARITY, MODBUS_EXCEPTION_NOT_DEFINED, MODBUS_EXCEPTION_GATEWAY_PATH, MODBUS_EXCEPTION_GATEWAY_TARGET, MODBUS_EXCEPTION_MAX }; #define EMBXILFUN (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_FUNCTION) #define EMBXILADD (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS) #define EMBXILVAL (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE) #define EMBXSFAIL (MODBUS_ENOBASE + MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE) #define EMBXACK (MODBUS_ENOBASE + MODBUS_EXCEPTION_ACKNOWLEDGE) #define EMBXSBUSY (MODBUS_ENOBASE + MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY) #define EMBXNACK (MODBUS_ENOBASE + MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE) #define EMBXMEMPAR (MODBUS_ENOBASE + MODBUS_EXCEPTION_MEMORY_PARITY) #define EMBXGPATH (MODBUS_ENOBASE + MODBUS_EXCEPTION_GATEWAY_PATH) #define EMBXGTAR (MODBUS_ENOBASE + MODBUS_EXCEPTION_GATEWAY_TARGET) /* Native libmodbus error codes */ #define EMBBADCRC (EMBXGTAR + 1) #define EMBBADDATA (EMBXGTAR + 2) #define EMBBADEXC (EMBXGTAR + 3) #define EMBUNKEXC (EMBXGTAR + 4) #define EMBMDATA (EMBXGTAR + 5) /* Internal use */ #define MSG_LENGTH_UNDEFINED -1 /* The major version of libmb, (1, if %LIBMODBUS_VERSION is 1.2.3) */ #define LIBMODBUS_VERSION_MAJOR (@LIBMODBUS_VERSION_MAJOR@) /* The minor version of libmb (2, if %LIBMODBUS_VERSION is 1.2.3) */ #define LIBMODBUS_VERSION_MINOR (@LIBMODBUS_VERSION_MINOR@) /* The micro version of libmb (3, if %LIBMODBUS_VERSION is 1.2.3) */ #define LIBMODBUS_VERSION_MICRO (@LIBMODBUS_VERSION_MICRO@) /* The full version of libmb, like 1.2.3 */ #define LIBMODBUS_VERSION @LIBMODBUS_VERSION@ /* The full version of libmb, in string form (suited for * string concatenation) */ #define LIBMODBUS_VERSION_STRING "@LIBMODBUS_VERSION@" /* Numerically encoded version libmb, like 0x010203 */ #define LIBMODBUS_VERSION_HEX ((LIBMODBUS_MAJOR_VERSION << 24) | \ (LIBMODBUS_MINOR_VERSION << 16) | \ (LIBMODBUS_MICRO_VERSION << 8)) /* Evaluates to True if the version of libmb is greater than @major, @minor and * @micro */ #define LIBMODBUS_VERSION_CHECK(major,minor,micro) \ (LIBMODBUS_VERSION_MAJOR > (major) || \ (LIBMODBUS_VERSION_MAJOR == (major) && \ LIBMODBUS_VERSION_MINOR > (minor)) || \ (LIBMODBUS_VERSION_MAJOR == (major) && \ LIBMODBUS_VERSION_MINOR == (minor) && \ LIBMODBUS_VERSION_MICRO >= (micro))) extern const unsigned int libmodbus_version_major; extern const unsigned int libmodbus_version_minor; extern const unsigned int libmodbus_version_micro; typedef enum { RTU=0, TCP } type_com_t; /* This structure is byte-aligned */ typedef struct { /* Slave address */ int slave; /* Descriptor (tty or socket) */ int fd; /* Communication mode: RTU or TCP */ type_com_t type_com; /* Flag debug */ int debug; /* TCP port */ int port; /* Device: "/dev/ttyS0", "/dev/ttyUSB0" or "/dev/tty.USA19*" on Mac OS X for KeySpan USB<->Serial adapters this string had to be made bigger on OS X as the directory+file name was bigger than 19 bytes. Making it 67 bytes for now, but OS X does support 256 byte file names. May become a problem in the future. */ #ifdef __APPLE_CC__ char device[64]; #else char device[16]; #endif /* Bauds: 9600, 19200, 57600, 115200, etc */ int baud; /* Data bit */ uint8_t data_bit; /* Stop bit */ uint8_t stop_bit; /* Parity: "even", "odd", "none" */ char parity[5]; /* In error_treat with TCP, do a reconnect or just dump the error */ uint8_t error_recovery; /* IP address */ char ip[16]; /* Save old termios settings */ struct termios old_tios; } modbus_param_t; typedef struct { int nb_coil_status; int nb_input_status; int nb_input_registers; int nb_holding_registers; uint8_t *tab_coil_status; uint8_t *tab_input_status; uint16_t *tab_input_registers; uint16_t *tab_holding_registers; } modbus_mapping_t; void modbus_init_rtu(modbus_param_t *mb_param, const char *device, int baud, const char *parity, int data_bit, int stop_bit, int slave); void modbus_init_tcp(modbus_param_t *mb_param, const char *ip_address, int port, int slave); void modbus_set_slave(modbus_param_t *mb_param, int slave); int modbus_set_error_recovery(modbus_param_t *mb_param, int enabled); int modbus_connect(modbus_param_t *mb_param); void modbus_close(modbus_param_t *mb_param); int modbus_flush(modbus_param_t *mb_param); void modbus_set_debug(modbus_param_t *mb_param, int boolean); const char *modbus_strerror(int errnum); int read_coil_status(modbus_param_t *mb_param, int start_addr, int nb, uint8_t *dest); int read_input_status(modbus_param_t *mb_param, int start_addr, int nb, uint8_t *dest); int read_holding_registers(modbus_param_t *mb_param, int start_addr, int nb, uint16_t *dest); int read_input_registers(modbus_param_t *mb_param, int start_addr, int nb, uint16_t *dest); int force_single_coil(modbus_param_t *mb_param, int coil_addr, int state); int preset_single_register(modbus_param_t *mb_param, int reg_addr, int value); int force_multiple_coils(modbus_param_t *mb_param, int start_addr, int nb, const uint8_t *data); int preset_multiple_registers(modbus_param_t *mb_param, int start_addr, int nb, const uint16_t *data); int report_slave_id(modbus_param_t *mb_param, uint8_t *dest); int modbus_mapping_new(modbus_mapping_t *mb_mapping, int nb_coil_status, int nb_input_status, int nb_holding_registers, int nb_input_registers); void modbus_mapping_free(modbus_mapping_t *mb_mapping); int modbus_slave_listen_tcp(modbus_param_t *mb_param, int nb_connection); int modbus_slave_accept_tcp(modbus_param_t *mb_param, int *socket); int modbus_slave_receive(modbus_param_t *mb_param, int sockfd, uint8_t *query); int modbus_slave_manage(modbus_param_t *mb_param, const uint8_t *query, int query_length, modbus_mapping_t *mb_mapping); void modbus_slave_close_tcp(int socket); /** * UTILS FUNCTIONS **/ void set_bits_from_byte(uint8_t *dest, int address, const uint8_t value); void set_bits_from_bytes(uint8_t *dest, int address, unsigned int nb_bits, const uint8_t *tab_byte); uint8_t get_byte_from_bits(const uint8_t *src, int address, unsigned int nb_bits); float modbus_read_float(const uint16_t *src); void modbus_write_float(float real, uint16_t *dest); #ifdef __cplusplus } #endif #endif /* _MODBUS_H_ */