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modbus support
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Dmitry Borisenko
270
lib/ModbusMaster/src/ModbusMaster.h
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270
lib/ModbusMaster/src/ModbusMaster.h
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/**
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@file
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Arduino library for communicating with Modbus slaves over RS232/485 (via RTU protocol).
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@defgroup setup ModbusMaster Object Instantiation/Initialization
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@defgroup buffer ModbusMaster Buffer Management
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@defgroup discrete Modbus Function Codes for Discrete Coils/Inputs
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@defgroup register Modbus Function Codes for Holding/Input Registers
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@defgroup constant Modbus Function Codes, Exception Codes
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*/
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/*
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ModbusMaster.h - Arduino library for communicating with Modbus slaves
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over RS232/485 (via RTU protocol).
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Library:: ModbusMaster
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Copyright:: 2009-2016 Doc Walker
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#ifndef ModbusMaster_h
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#define ModbusMaster_h
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/**
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@def __MODBUSMASTER_DEBUG__ (0)
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Set to 1 to enable debugging features within class:
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- PIN A cycles for each byte read in the Modbus response
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- PIN B cycles for each millisecond timeout during the Modbus response
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*/
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#define __MODBUSMASTER_DEBUG__ (0)
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#define __MODBUSMASTER_DEBUG_PIN_A__ 4
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#define __MODBUSMASTER_DEBUG_PIN_B__ 5
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/* _____STANDARD INCLUDES____________________________________________________ */
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// include types & constants of Wiring core API
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#include "Arduino.h"
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/* _____UTILITY MACROS_______________________________________________________ */
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/* _____PROJECT INCLUDES_____________________________________________________ */
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// functions to calculate Modbus Application Data Unit CRC
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#include "util/crc16.h"
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// functions to manipulate words
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#include "util/word.h"
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/* _____CLASS DEFINITIONS____________________________________________________ */
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/**
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Arduino class library for communicating with Modbus slaves over
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RS232/485 (via RTU protocol).
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*/
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class ModbusMaster
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{
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public:
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ModbusMaster();
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void begin(uint8_t, Stream &serial);
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void idle(void (*)());
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void preTransmission(void (*)());
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void postTransmission(void (*)());
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// Modbus exception codes
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/**
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Modbus protocol illegal function exception.
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The function code received in the query is not an allowable action for
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the server (or slave). This may be because the function code is only
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applicable to newer devices, and was not implemented in the unit
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selected. It could also indicate that the server (or slave) is in the
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wrong state to process a request of this type, for example because it is
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unconfigured and is being asked to return register values.
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@ingroup constant
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*/
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static const uint8_t ku8MBIllegalFunction = 0x01;
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/**
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Modbus protocol illegal data address exception.
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The data address received in the query is not an allowable address for
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the server (or slave). More specifically, the combination of reference
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number and transfer length is invalid. For a controller with 100
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registers, the ADU addresses the first register as 0, and the last one
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as 99. If a request is submitted with a starting register address of 96
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and a quantity of registers of 4, then this request will successfully
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operate (address-wise at least) on registers 96, 97, 98, 99. If a
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request is submitted with a starting register address of 96 and a
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quantity of registers of 5, then this request will fail with Exception
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Code 0x02 "Illegal Data Address" since it attempts to operate on
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registers 96, 97, 98, 99 and 100, and there is no register with address
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100.
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@ingroup constant
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*/
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static const uint8_t ku8MBIllegalDataAddress = 0x02;
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/**
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Modbus protocol illegal data value exception.
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A value contained in the query data field is not an allowable value for
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server (or slave). This indicates a fault in the structure of the
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remainder of a complex request, such as that the implied length is
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incorrect. It specifically does NOT mean that a data item submitted for
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storage in a register has a value outside the expectation of the
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application program, since the MODBUS protocol is unaware of the
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significance of any particular value of any particular register.
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@ingroup constant
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*/
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static const uint8_t ku8MBIllegalDataValue = 0x03;
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/**
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Modbus protocol slave device failure exception.
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An unrecoverable error occurred while the server (or slave) was
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attempting to perform the requested action.
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@ingroup constant
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*/
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static const uint8_t ku8MBSlaveDeviceFailure = 0x04;
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// Class-defined success/exception codes
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/**
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ModbusMaster success.
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Modbus transaction was successful; the following checks were valid:
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- slave ID
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- function code
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- response code
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- data
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- CRC
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@ingroup constant
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*/
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static const uint8_t ku8MBSuccess = 0x00;
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/**
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ModbusMaster invalid response slave ID exception.
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The slave ID in the response does not match that of the request.
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@ingroup constant
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*/
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static const uint8_t ku8MBInvalidSlaveID = 0xE0;
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/**
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ModbusMaster invalid response function exception.
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The function code in the response does not match that of the request.
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@ingroup constant
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*/
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static const uint8_t ku8MBInvalidFunction = 0xE1;
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/**
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ModbusMaster response timed out exception.
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The entire response was not received within the timeout period,
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ModbusMaster::ku8MBResponseTimeout.
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@ingroup constant
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*/
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static const uint8_t ku8MBResponseTimedOut = 0xE2;
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/**
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ModbusMaster invalid response CRC exception.
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The CRC in the response does not match the one calculated.
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@ingroup constant
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*/
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static const uint8_t ku8MBInvalidCRC = 0xE3;
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uint16_t getResponseBuffer(uint8_t);
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void clearResponseBuffer();
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uint8_t setTransmitBuffer(uint8_t, uint16_t);
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void clearTransmitBuffer();
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void beginTransmission(uint16_t);
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uint8_t requestFrom(uint16_t, uint16_t);
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void sendBit(bool);
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void send(uint8_t);
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void send(uint16_t);
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void send(uint32_t);
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uint8_t available(void);
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uint16_t receive(void);
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uint8_t readCoils(uint16_t, uint16_t);
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uint8_t readDiscreteInputs(uint16_t, uint16_t);
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uint8_t readHoldingRegisters(uint16_t, uint16_t);
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uint8_t readInputRegisters(uint16_t, uint8_t);
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uint8_t writeSingleCoil(uint16_t, uint8_t);
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uint8_t writeSingleRegister(uint16_t, uint16_t);
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uint8_t writeMultipleCoils(uint16_t, uint16_t);
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uint8_t writeMultipleCoils();
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uint8_t writeMultipleRegisters(uint16_t, uint16_t);
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uint8_t writeMultipleRegisters();
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uint8_t maskWriteRegister(uint16_t, uint16_t, uint16_t);
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uint8_t readWriteMultipleRegisters(uint16_t, uint16_t, uint16_t, uint16_t);
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uint8_t readWriteMultipleRegisters(uint16_t, uint16_t);
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private:
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Stream* _serial; ///< reference to serial port object
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uint8_t _u8MBSlave; ///< Modbus slave (1..255) initialized in begin()
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static const uint8_t ku8MaxBufferSize = 64; ///< size of response/transmit buffers
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uint16_t _u16ReadAddress; ///< slave register from which to read
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uint16_t _u16ReadQty; ///< quantity of words to read
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uint16_t _u16ResponseBuffer[ku8MaxBufferSize]; ///< buffer to store Modbus slave response; read via GetResponseBuffer()
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uint16_t _u16WriteAddress; ///< slave register to which to write
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uint16_t _u16WriteQty; ///< quantity of words to write
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uint16_t _u16TransmitBuffer[ku8MaxBufferSize]; ///< buffer containing data to transmit to Modbus slave; set via SetTransmitBuffer()
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uint16_t* txBuffer; // from Wire.h -- need to clean this up Rx
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uint8_t _u8TransmitBufferIndex;
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uint16_t u16TransmitBufferLength;
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uint16_t* rxBuffer; // from Wire.h -- need to clean this up Rx
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uint8_t _u8ResponseBufferIndex;
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uint8_t _u8ResponseBufferLength;
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// Modbus function codes for bit access
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static const uint8_t ku8MBReadCoils = 0x01; ///< Modbus function 0x01 Read Coils
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static const uint8_t ku8MBReadDiscreteInputs = 0x02; ///< Modbus function 0x02 Read Discrete Inputs
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static const uint8_t ku8MBWriteSingleCoil = 0x05; ///< Modbus function 0x05 Write Single Coil
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static const uint8_t ku8MBWriteMultipleCoils = 0x0F; ///< Modbus function 0x0F Write Multiple Coils
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// Modbus function codes for 16 bit access
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static const uint8_t ku8MBReadHoldingRegisters = 0x03; ///< Modbus function 0x03 Read Holding Registers
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static const uint8_t ku8MBReadInputRegisters = 0x04; ///< Modbus function 0x04 Read Input Registers
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static const uint8_t ku8MBWriteSingleRegister = 0x06; ///< Modbus function 0x06 Write Single Register
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static const uint8_t ku8MBWriteMultipleRegisters = 0x10; ///< Modbus function 0x10 Write Multiple Registers
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static const uint8_t ku8MBMaskWriteRegister = 0x16; ///< Modbus function 0x16 Mask Write Register
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static const uint8_t ku8MBReadWriteMultipleRegisters = 0x17; ///< Modbus function 0x17 Read Write Multiple Registers
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// Modbus timeout [milliseconds]
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static const uint16_t ku16MBResponseTimeout = 150; ///< Modbus timeout [milliseconds]
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// master function that conducts Modbus transactions
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uint8_t ModbusMasterTransaction(uint8_t u8MBFunction);
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// idle callback function; gets called during idle time between TX and RX
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void (*_idle)();
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// preTransmission callback function; gets called before writing a Modbus message
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void (*_preTransmission)();
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// postTransmission callback function; gets called after a Modbus message has been sent
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void (*_postTransmission)();
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};
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#endif
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/**
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@example examples/Basic/Basic.pde
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@example examples/PhoenixContact_nanoLC/PhoenixContact_nanoLC.pde
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@example examples/RS485_HalfDuplex/RS485_HalfDuplex.ino
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*/
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