mirror of
https://github.com/IoTManagerProject/IoTManager.git
synced 2026-03-28 23:22:19 +03:00
271 lines
10 KiB
C++
271 lines
10 KiB
C++
/**
|
|
@file
|
|
Arduino library for communicating with Modbus slaves over RS232/485 (via RTU protocol).
|
|
|
|
@defgroup setup ModbusMaster Object Instantiation/Initialization
|
|
@defgroup buffer ModbusMaster Buffer Management
|
|
@defgroup discrete Modbus Function Codes for Discrete Coils/Inputs
|
|
@defgroup register Modbus Function Codes for Holding/Input Registers
|
|
@defgroup constant Modbus Function Codes, Exception Codes
|
|
*/
|
|
/*
|
|
|
|
ModbusMaster.h - Arduino library for communicating with Modbus slaves
|
|
over RS232/485 (via RTU protocol).
|
|
|
|
Library:: ModbusMaster
|
|
|
|
Copyright:: 2009-2016 Doc Walker
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in compliance with the License.
|
|
You may obtain a copy of the License at
|
|
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
Unless required by applicable law or agreed to in writing, software
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
See the License for the specific language governing permissions and
|
|
limitations under the License.
|
|
|
|
*/
|
|
|
|
|
|
#ifndef ModbusMaster_h
|
|
#define ModbusMaster_h
|
|
|
|
|
|
/**
|
|
@def __MODBUSMASTER_DEBUG__ (0)
|
|
Set to 1 to enable debugging features within class:
|
|
- PIN A cycles for each byte read in the Modbus response
|
|
- PIN B cycles for each millisecond timeout during the Modbus response
|
|
*/
|
|
#define __MODBUSMASTER_DEBUG__ (0)
|
|
#define __MODBUSMASTER_DEBUG_PIN_A__ 4
|
|
#define __MODBUSMASTER_DEBUG_PIN_B__ 5
|
|
|
|
/* _____STANDARD INCLUDES____________________________________________________ */
|
|
// include types & constants of Wiring core API
|
|
#include "Arduino.h"
|
|
|
|
/* _____UTILITY MACROS_______________________________________________________ */
|
|
|
|
|
|
/* _____PROJECT INCLUDES_____________________________________________________ */
|
|
// functions to calculate Modbus Application Data Unit CRC
|
|
#include "util/crc16.h"
|
|
|
|
// functions to manipulate words
|
|
#include "util/word.h"
|
|
|
|
|
|
/* _____CLASS DEFINITIONS____________________________________________________ */
|
|
/**
|
|
Arduino class library for communicating with Modbus slaves over
|
|
RS232/485 (via RTU protocol).
|
|
*/
|
|
class ModbusMaster
|
|
{
|
|
public:
|
|
ModbusMaster();
|
|
|
|
void begin(uint8_t, Stream &serial);
|
|
void idle(void (*)());
|
|
void preTransmission(void (*)());
|
|
void postTransmission(void (*)());
|
|
|
|
// Modbus exception codes
|
|
/**
|
|
Modbus protocol illegal function exception.
|
|
|
|
The function code received in the query is not an allowable action for
|
|
the server (or slave). This may be because the function code is only
|
|
applicable to newer devices, and was not implemented in the unit
|
|
selected. It could also indicate that the server (or slave) is in the
|
|
wrong state to process a request of this type, for example because it is
|
|
unconfigured and is being asked to return register values.
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBIllegalFunction = 0x01;
|
|
|
|
/**
|
|
Modbus protocol illegal data address exception.
|
|
|
|
The data address received in the query is not an allowable address for
|
|
the server (or slave). More specifically, the combination of reference
|
|
number and transfer length is invalid. For a controller with 100
|
|
registers, the ADU addresses the first register as 0, and the last one
|
|
as 99. If a request is submitted with a starting register address of 96
|
|
and a quantity of registers of 4, then this request will successfully
|
|
operate (address-wise at least) on registers 96, 97, 98, 99. If a
|
|
request is submitted with a starting register address of 96 and a
|
|
quantity of registers of 5, then this request will fail with Exception
|
|
Code 0x02 "Illegal Data Address" since it attempts to operate on
|
|
registers 96, 97, 98, 99 and 100, and there is no register with address
|
|
100.
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBIllegalDataAddress = 0x02;
|
|
|
|
/**
|
|
Modbus protocol illegal data value exception.
|
|
|
|
A value contained in the query data field is not an allowable value for
|
|
server (or slave). This indicates a fault in the structure of the
|
|
remainder of a complex request, such as that the implied length is
|
|
incorrect. It specifically does NOT mean that a data item submitted for
|
|
storage in a register has a value outside the expectation of the
|
|
application program, since the MODBUS protocol is unaware of the
|
|
significance of any particular value of any particular register.
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBIllegalDataValue = 0x03;
|
|
|
|
/**
|
|
Modbus protocol slave device failure exception.
|
|
|
|
An unrecoverable error occurred while the server (or slave) was
|
|
attempting to perform the requested action.
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBSlaveDeviceFailure = 0x04;
|
|
|
|
// Class-defined success/exception codes
|
|
/**
|
|
ModbusMaster success.
|
|
|
|
Modbus transaction was successful; the following checks were valid:
|
|
- slave ID
|
|
- function code
|
|
- response code
|
|
- data
|
|
- CRC
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBSuccess = 0x00;
|
|
|
|
/**
|
|
ModbusMaster invalid response slave ID exception.
|
|
|
|
The slave ID in the response does not match that of the request.
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBInvalidSlaveID = 0xE0;
|
|
|
|
/**
|
|
ModbusMaster invalid response function exception.
|
|
|
|
The function code in the response does not match that of the request.
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBInvalidFunction = 0xE1;
|
|
|
|
/**
|
|
ModbusMaster response timed out exception.
|
|
|
|
The entire response was not received within the timeout period,
|
|
ModbusMaster::ku8MBResponseTimeout.
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBResponseTimedOut = 0xE2;
|
|
|
|
/**
|
|
ModbusMaster invalid response CRC exception.
|
|
|
|
The CRC in the response does not match the one calculated.
|
|
|
|
@ingroup constant
|
|
*/
|
|
static const uint8_t ku8MBInvalidCRC = 0xE3;
|
|
|
|
uint16_t getResponseBuffer(uint8_t);
|
|
void clearResponseBuffer();
|
|
uint8_t setTransmitBuffer(uint8_t, uint16_t);
|
|
void clearTransmitBuffer();
|
|
|
|
void beginTransmission(uint16_t);
|
|
uint8_t requestFrom(uint16_t, uint16_t);
|
|
void sendBit(bool);
|
|
void send(uint8_t);
|
|
void send(uint16_t);
|
|
void send(uint32_t);
|
|
uint8_t available(void);
|
|
uint16_t receive(void);
|
|
|
|
|
|
uint8_t readCoils(uint16_t, uint16_t);
|
|
uint8_t readDiscreteInputs(uint16_t, uint16_t);
|
|
uint8_t readHoldingRegisters(uint16_t, uint16_t);
|
|
uint8_t readInputRegisters(uint16_t, uint8_t);
|
|
uint8_t writeSingleCoil(uint16_t, uint8_t);
|
|
uint8_t writeSingleRegister(uint16_t, uint16_t);
|
|
uint8_t writeMultipleCoils(uint16_t, uint16_t);
|
|
uint8_t writeMultipleCoils();
|
|
uint8_t writeMultipleRegisters(uint16_t, uint16_t);
|
|
uint8_t writeMultipleRegisters();
|
|
uint8_t maskWriteRegister(uint16_t, uint16_t, uint16_t);
|
|
uint8_t readWriteMultipleRegisters(uint16_t, uint16_t, uint16_t, uint16_t);
|
|
uint8_t readWriteMultipleRegisters(uint16_t, uint16_t);
|
|
|
|
private:
|
|
Stream* _serial; ///< reference to serial port object
|
|
uint8_t _u8MBSlave; ///< Modbus slave (1..255) initialized in begin()
|
|
static const uint8_t ku8MaxBufferSize = 64; ///< size of response/transmit buffers
|
|
uint16_t _u16ReadAddress; ///< slave register from which to read
|
|
uint16_t _u16ReadQty; ///< quantity of words to read
|
|
uint16_t _u16ResponseBuffer[ku8MaxBufferSize]; ///< buffer to store Modbus slave response; read via GetResponseBuffer()
|
|
uint16_t _u16WriteAddress; ///< slave register to which to write
|
|
uint16_t _u16WriteQty; ///< quantity of words to write
|
|
uint16_t _u16TransmitBuffer[ku8MaxBufferSize]; ///< buffer containing data to transmit to Modbus slave; set via SetTransmitBuffer()
|
|
uint16_t* txBuffer; // from Wire.h -- need to clean this up Rx
|
|
uint8_t _u8TransmitBufferIndex;
|
|
uint16_t u16TransmitBufferLength;
|
|
uint16_t* rxBuffer; // from Wire.h -- need to clean this up Rx
|
|
uint8_t _u8ResponseBufferIndex;
|
|
uint8_t _u8ResponseBufferLength;
|
|
|
|
// Modbus function codes for bit access
|
|
static const uint8_t ku8MBReadCoils = 0x01; ///< Modbus function 0x01 Read Coils
|
|
static const uint8_t ku8MBReadDiscreteInputs = 0x02; ///< Modbus function 0x02 Read Discrete Inputs
|
|
static const uint8_t ku8MBWriteSingleCoil = 0x05; ///< Modbus function 0x05 Write Single Coil
|
|
static const uint8_t ku8MBWriteMultipleCoils = 0x0F; ///< Modbus function 0x0F Write Multiple Coils
|
|
|
|
// Modbus function codes for 16 bit access
|
|
static const uint8_t ku8MBReadHoldingRegisters = 0x03; ///< Modbus function 0x03 Read Holding Registers
|
|
static const uint8_t ku8MBReadInputRegisters = 0x04; ///< Modbus function 0x04 Read Input Registers
|
|
static const uint8_t ku8MBWriteSingleRegister = 0x06; ///< Modbus function 0x06 Write Single Register
|
|
static const uint8_t ku8MBWriteMultipleRegisters = 0x10; ///< Modbus function 0x10 Write Multiple Registers
|
|
static const uint8_t ku8MBMaskWriteRegister = 0x16; ///< Modbus function 0x16 Mask Write Register
|
|
static const uint8_t ku8MBReadWriteMultipleRegisters = 0x17; ///< Modbus function 0x17 Read Write Multiple Registers
|
|
|
|
// Modbus timeout [milliseconds]
|
|
static const uint16_t ku16MBResponseTimeout = 150; ///< Modbus timeout [milliseconds]
|
|
|
|
// master function that conducts Modbus transactions
|
|
uint8_t ModbusMasterTransaction(uint8_t u8MBFunction);
|
|
|
|
// idle callback function; gets called during idle time between TX and RX
|
|
void (*_idle)();
|
|
// preTransmission callback function; gets called before writing a Modbus message
|
|
void (*_preTransmission)();
|
|
// postTransmission callback function; gets called after a Modbus message has been sent
|
|
void (*_postTransmission)();
|
|
};
|
|
#endif
|
|
|
|
/**
|
|
@example examples/Basic/Basic.pde
|
|
@example examples/PhoenixContact_nanoLC/PhoenixContact_nanoLC.pde
|
|
@example examples/RS485_HalfDuplex/RS485_HalfDuplex.ino
|
|
*/
|