Erick / Mbed 2 deprecated ICE_BLE_TEST

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Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/ModbusMaster/ModbusMaster.cpp@81:d45bfa16953a, 2016-09-20 (annotated)

Committer:
davidjhoward
Date:
Tue Sep 20 13:41:31 2016 +0000
Revision:
81:d45bfa16953a
Parent:
67:49f266601d83
Child:
82:f3e495a98877
Child:
86:189c125d8878
modbus thread output handling

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmarkel44 0:65cfa4873284 1 /******************************************************************************
davidjhoward 4:c35db3946fd8 2 *
jmarkel44 0:65cfa4873284 3 * File: ModbusMaster.cpp
jmarkel44 0:65cfa4873284 4 * Desciption: source for the ICE Modbus Master
jmarkel44 0:65cfa4873284 5 *
jmarkel44 0:65cfa4873284 6 *****************************************************************************/
jmarkel44 0:65cfa4873284 7 #include "global.h"
jmarkel44 0:65cfa4873284 8 #include <stdio.h>
davidjhoward 31:4b1587034318 9 #include "MTSLog.h"
jmarkel44 0:65cfa4873284 10 #include "BLEDataHandler.h"
davidjhoward 4:c35db3946fd8 11 #include "ModbusMaster.h"
davidjhoward 8:abe51ae5ef8b 12 #include "MbedJSONValue.h"
jmarkel44 0:65cfa4873284 13
davidjhoward 81:d45bfa16953a 14 DigitalOut dout1(PC_1);
davidjhoward 81:d45bfa16953a 15 DigitalOut dout2(PA_1);
davidjhoward 81:d45bfa16953a 16
jmarkel44 0:65cfa4873284 17 /*****************************************************************************
jmarkel44 0:65cfa4873284 18 * Function: ModbusMaster
jmarkel44 0:65cfa4873284 19 * Description: entry point for the Modbus Master
jmarkel44 0:65cfa4873284 20 *
jmarkel44 0:65cfa4873284 21 * @param (IN) args (user-defined arguments)
jmarkel44 0:65cfa4873284 22 * @return none
jmarkel44 0:65cfa4873284 23 *****************************************************************************/
davidjhoward 42:c703a60993b1 24 char ModbusMasterScratchBuf[1024];
jmarkel44 0:65cfa4873284 25 void ModbusMaster(void const *args)
jmarkel44 0:65cfa4873284 26 {
davidjhoward 31:4b1587034318 27 logInfo("%s ModbusMaster has started...", __func__);
davidjhoward 15:a6ee32969e8e 28 bool status;
davidjhoward 81:d45bfa16953a 29 bool input;
davidjhoward 8:abe51ae5ef8b 30 MbedJSONValue json_value;
davidjhoward 81:d45bfa16953a 31
davidjhoward 54:ec1b03064bbd 32 modbus_init(MB_BAUD_RATE);
davidjhoward 54:ec1b03064bbd 33 DigitalOut flu_power(PA_11);
davidjhoward 54:ec1b03064bbd 34 flu_power = 0; // provide power to the modbus
jmarkel44 0:65cfa4873284 35
davidjhoward 39:9287c7d59016 36 while( true ) {
davidjhoward 8:abe51ae5ef8b 37
davidjhoward 39:9287c7d59016 38 // configure modbus registers based in all files that start with "input"
davidjhoward 39:9287c7d59016 39 std::vector<mDot::mdot_file> file_list = GLOBAL_mdot->listUserFiles();
davidjhoward 39:9287c7d59016 40 for (std::vector<mDot::mdot_file>::iterator i = file_list.begin(); i != file_list.end(); ++i) {
davidjhoward 8:abe51ae5ef8b 41
davidjhoward 81:d45bfa16953a 42 input = true;
davidjhoward 81:d45bfa16953a 43 if( (strncmp( i->name, "input", (strlen("input")-1)) == 0) ||
davidjhoward 81:d45bfa16953a 44 (strncmp( i->name, "output", (strlen("output")-1)) == 0)) {
davidjhoward 8:abe51ae5ef8b 45
davidjhoward 81:d45bfa16953a 46 if( (strncmp( i->name, "output", (strlen("output")-1)) == 0) ) {
davidjhoward 81:d45bfa16953a 47 input = false;
davidjhoward 81:d45bfa16953a 48 }
davidjhoward 81:d45bfa16953a 49
davidjhoward 81:d45bfa16953a 50 logInfo("(%d)FOUND FILE: %s", __LINE__, i->name);
davidjhoward 42:c703a60993b1 51
davidjhoward 49:0456ee2271be 52 status = GLOBAL_mdot->readUserFile(i->name, ModbusMasterScratchBuf, 1024);
davidjhoward 39:9287c7d59016 53 if( status != true ) {
davidjhoward 45:3b9e1923cb15 54 logInfo("(%d)read file failed, status=%d", __LINE__, status);
davidjhoward 39:9287c7d59016 55 } else {
davidjhoward 45:3b9e1923cb15 56 logInfo("(%d)Read File SUCCESS: %s", __LINE__, ModbusMasterScratchBuf );
davidjhoward 39:9287c7d59016 57 }
davidjhoward 81:d45bfa16953a 58
davidjhoward 42:c703a60993b1 59 parse( json_value, ModbusMasterScratchBuf );
davidjhoward 9:ef0ca2f8a8a6 60
davidjhoward 39:9287c7d59016 61 std::string id = json_value["id"].get<std::string>().c_str();
davidjhoward 39:9287c7d59016 62 ModbusRegisterMap[id].name = json_value["name"].get<std::string>().c_str();
davidjhoward 39:9287c7d59016 63 ModbusRegisterMap[id].units = json_value["units"].get<std::string>().c_str();
davidjhoward 39:9287c7d59016 64 ModbusRegisterMap[id].min = atof(json_value["min"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 65 ModbusRegisterMap[id].max = atof(json_value["max"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 66 ModbusRegisterMap[id].node = atoi(json_value["node"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 67 ModbusRegisterMap[id].reg = atoi(json_value["reg"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 68 ModbusRegisterMap[id].rtype = atoi(json_value["rtype"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 69 ModbusRegisterMap[id].type = atoi(json_value["type"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 70 ModbusRegisterMap[id].size = atoi(json_value["size"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 71 ModbusRegisterMap[id].order = atoi(json_value["order"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 72 ModbusRegisterMap[id].fmt = json_value["fmt"].get<std::string>().c_str();
davidjhoward 49:0456ee2271be 73 ModbusRegisterMap[id].rfreq = atoi(json_value["rfreq"].get<std::string>().c_str());
davidjhoward 81:d45bfa16953a 74 ModbusRegisterMap[id].input = input;
davidjhoward 15:a6ee32969e8e 75 }
davidjhoward 4:c35db3946fd8 76 }
davidjhoward 31:4b1587034318 77
davidjhoward 39:9287c7d59016 78 // read modbus registers that have been configured.
davidjhoward 39:9287c7d59016 79 while ( true ) {
davidjhoward 39:9287c7d59016 80
davidjhoward 39:9287c7d59016 81 std::map<std::string, ModbusRegister>::iterator iter;
davidjhoward 39:9287c7d59016 82 for (iter = ModbusRegisterMap.begin(); iter != ModbusRegisterMap.end(); ++iter) {
davidjhoward 81:d45bfa16953a 83 logInfo("Processing node=%d, reg=%d, size=%d, order=%d", iter->second.node, iter->second.reg, iter->second.size, iter->second.order );
davidjhoward 39:9287c7d59016 84 SendModbusCommand(iter->second.node, iter->second.reg, iter->second.size);
davidjhoward 57:5f18ae91c7c7 85 Thread::wait(30);
davidjhoward 39:9287c7d59016 86
davidjhoward 39:9287c7d59016 87 switch( iter->second.type ) {
davidjhoward 39:9287c7d59016 88 case TYPE_32BIT_FLOAT:
davidjhoward 39:9287c7d59016 89 float float_value;
davidjhoward 39:9287c7d59016 90 status = ReadModbus_32bit_float( &float_value, iter->second.order );
davidjhoward 39:9287c7d59016 91 if( status == true ) {
davidjhoward 39:9287c7d59016 92 ModbusRegisterMap[iter->first].float_value = float_value;
davidjhoward 54:ec1b03064bbd 93 logInfo("Modbus Tag:%s value=%2.2f", iter->first.c_str(), float_value );
davidjhoward 81:d45bfa16953a 94 } else {
davidjhoward 54:ec1b03064bbd 95 logInfo("Modbus Read Failed, tag=%s", iter->first.c_str() );
davidjhoward 39:9287c7d59016 96 }
davidjhoward 39:9287c7d59016 97 break;
davidjhoward 39:9287c7d59016 98 case TYPE_32BIT_INT:
davidjhoward 39:9287c7d59016 99 break;
davidjhoward 39:9287c7d59016 100 case TYPE_32BIT_UINT:
davidjhoward 39:9287c7d59016 101 break;
davidjhoward 39:9287c7d59016 102 case TYPE_16BIT_INT:
davidjhoward 39:9287c7d59016 103 break;
davidjhoward 39:9287c7d59016 104 case TYPE_16BIT_UINT:
davidjhoward 39:9287c7d59016 105 break;
davidjhoward 39:9287c7d59016 106 default:
davidjhoward 39:9287c7d59016 107 break;
davidjhoward 39:9287c7d59016 108 }
davidjhoward 81:d45bfa16953a 109
davidjhoward 81:d45bfa16953a 110 if( iter->second.input == false )
davidjhoward 81:d45bfa16953a 111 {
davidjhoward 81:d45bfa16953a 112 printf("processing output=%s, reg=%d, value=%d\r\n",iter->first.c_str(), ModbusRegisterMap[iter->first].reg, (bool)ModbusRegisterMap[iter->first].float_value);
davidjhoward 81:d45bfa16953a 113 if( ModbusRegisterMap[iter->first].reg == 1 )
davidjhoward 81:d45bfa16953a 114 {
davidjhoward 81:d45bfa16953a 115 dout1 = (bool)ModbusRegisterMap[iter->first].float_value;
davidjhoward 81:d45bfa16953a 116 }
davidjhoward 81:d45bfa16953a 117 else
davidjhoward 81:d45bfa16953a 118 {
davidjhoward 81:d45bfa16953a 119 dout2 = (bool)ModbusRegisterMap[iter->first].float_value;
davidjhoward 81:d45bfa16953a 120 }
davidjhoward 81:d45bfa16953a 121 }
davidjhoward 39:9287c7d59016 122 }
davidjhoward 39:9287c7d59016 123
davidjhoward 39:9287c7d59016 124 logInfo("Checking for MAIL");
davidjhoward 39:9287c7d59016 125 osEvent evt = ModbusMasterMailBox.get(50);
davidjhoward 39:9287c7d59016 126 if (evt.status == osEventMail) {
davidjhoward 39:9287c7d59016 127 Message_t *mail = (Message_t*)evt.value.p;
davidjhoward 39:9287c7d59016 128 logInfo("Mail Received: Action: %d, New Input File: %s", mail->action, mail->controlFile);
davidjhoward 39:9287c7d59016 129 ModbusMasterMailBox.free(mail);
davidjhoward 39:9287c7d59016 130 ModbusRegisterMap.clear();
davidjhoward 39:9287c7d59016 131 break;
davidjhoward 39:9287c7d59016 132 } else {
davidjhoward 39:9287c7d59016 133 logInfo("No Mail");
davidjhoward 39:9287c7d59016 134 }
davidjhoward 57:5f18ae91c7c7 135 Thread::wait(5000);
davidjhoward 31:4b1587034318 136 }
jmarkel44 0:65cfa4873284 137 }
davidjhoward 4:c35db3946fd8 138 }
davidjhoward 4:c35db3946fd8 139
davidjhoward 4:c35db3946fd8 140
davidjhoward 4:c35db3946fd8 141 volatile char modbus_buffer_char;
davidjhoward 4:c35db3946fd8 142 volatile bool modbus_interrupt_complete = false;
davidjhoward 4:c35db3946fd8 143
davidjhoward 4:c35db3946fd8 144 uint8_t modbus_input_buffer[SIZE_MB_BUFFER];// 1byte address + 1 byte function +1 byte number of regs + 12 bytes of data + 2 bytes for crc response frame from slave
davidjhoward 4:c35db3946fd8 145 volatile uint8_t modbus_input_buffer_counter = 0;
davidjhoward 4:c35db3946fd8 146
davidjhoward 4:c35db3946fd8 147 //Frame crc calucation
davidjhoward 4:c35db3946fd8 148 uint16_t modbus_crc(uint8_t* buf, int len)
davidjhoward 4:c35db3946fd8 149 {
davidjhoward 4:c35db3946fd8 150 uint16_t crc = 0xFFFF;
davidjhoward 4:c35db3946fd8 151
davidjhoward 4:c35db3946fd8 152 for (int pos = 0; pos < len; pos++) {
davidjhoward 4:c35db3946fd8 153 crc ^= (uint16_t)buf[pos]; // XOR byte into least sig. byte of crc
davidjhoward 4:c35db3946fd8 154
davidjhoward 4:c35db3946fd8 155 for (int i = 8; i != 0; i--) {
davidjhoward 4:c35db3946fd8 156 // Loop over each bit
davidjhoward 4:c35db3946fd8 157 if ((crc & 0x0001) != 0) {
davidjhoward 4:c35db3946fd8 158 // If the LSB is set
davidjhoward 4:c35db3946fd8 159 crc >>= 1; // Shift right and XOR 0xA001
davidjhoward 4:c35db3946fd8 160 crc ^= 0xA001;
davidjhoward 4:c35db3946fd8 161 } else // Else LSB is not set
davidjhoward 4:c35db3946fd8 162 crc >>= 1; // Just shift right
davidjhoward 4:c35db3946fd8 163 }
davidjhoward 4:c35db3946fd8 164 }
davidjhoward 4:c35db3946fd8 165 // Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
davidjhoward 4:c35db3946fd8 166 return crc;
davidjhoward 4:c35db3946fd8 167 }
davidjhoward 4:c35db3946fd8 168
davidjhoward 4:c35db3946fd8 169 RawSerial modbus(PA_2, PA_3);
davidjhoward 57:5f18ae91c7c7 170 DigitalOut mod_de(PB_0);
davidjhoward 57:5f18ae91c7c7 171 DigitalOut mod_re(PB_1);
davidjhoward 4:c35db3946fd8 172
davidjhoward 4:c35db3946fd8 173 void modbus_init( uint16_t baudRate )
davidjhoward 4:c35db3946fd8 174 {
davidjhoward 4:c35db3946fd8 175 modbus.baud(baudRate);
davidjhoward 4:c35db3946fd8 176 modbus.attach(&modbus_recv, RawSerial::RxIrq);
davidjhoward 4:c35db3946fd8 177 }
davidjhoward 4:c35db3946fd8 178
davidjhoward 4:c35db3946fd8 179 //call back when character goes into RX buffer for RS485 modbus
davidjhoward 4:c35db3946fd8 180 void modbus_recv()
davidjhoward 4:c35db3946fd8 181 {
davidjhoward 4:c35db3946fd8 182
davidjhoward 4:c35db3946fd8 183 if (modbus.readable()) {
davidjhoward 4:c35db3946fd8 184 modbus_buffer_char = modbus.getc();
davidjhoward 4:c35db3946fd8 185 if (modbus_input_buffer_counter == 0 && modbus_buffer_char == 0x00) {
davidjhoward 4:c35db3946fd8 186 modbus_input_buffer_counter = 0;
davidjhoward 4:c35db3946fd8 187 } else {
davidjhoward 4:c35db3946fd8 188 modbus_input_buffer[modbus_input_buffer_counter] = modbus_buffer_char;
davidjhoward 4:c35db3946fd8 189 modbus_input_buffer_counter++;
davidjhoward 4:c35db3946fd8 190 }
davidjhoward 4:c35db3946fd8 191 }
davidjhoward 4:c35db3946fd8 192
davidjhoward 4:c35db3946fd8 193 if (modbus_input_buffer_counter > modbus_input_buffer[2] + 4) {
davidjhoward 4:c35db3946fd8 194 modbus_interrupt_complete = true;
davidjhoward 4:c35db3946fd8 195 modbus_input_buffer_counter = 0;
davidjhoward 4:c35db3946fd8 196 }
davidjhoward 4:c35db3946fd8 197 }
davidjhoward 4:c35db3946fd8 198
davidjhoward 4:c35db3946fd8 199 // Read modbus master frame
davidjhoward 9:ef0ca2f8a8a6 200 void SendModbusCommand(uint8_t slave_address, uint16_t firstReg, uint16_t noRegs)
davidjhoward 4:c35db3946fd8 201 {
davidjhoward 4:c35db3946fd8 202 uint8_t L1V[8] = {slave_address, 0x04, 0x00, 0x02, 0x00, 0x02, 0xD1, 0x16};
davidjhoward 4:c35db3946fd8 203
davidjhoward 4:c35db3946fd8 204 L1V[2] = (firstReg >> 8) & 0xFF;
davidjhoward 4:c35db3946fd8 205 L1V[3] = firstReg & 0xFF;
davidjhoward 4:c35db3946fd8 206 L1V[4] = (noRegs >> 8) & 0xFF;
davidjhoward 4:c35db3946fd8 207 L1V[5] = noRegs & 0xFF;
davidjhoward 4:c35db3946fd8 208 L1V[6] = modbus_crc(L1V,6) & 0xFF;
davidjhoward 4:c35db3946fd8 209 L1V[7] = (modbus_crc(L1V,6)>>8) & 0xFF;
davidjhoward 4:c35db3946fd8 210
davidjhoward 57:5f18ae91c7c7 211 mod_de = 1;
davidjhoward 57:5f18ae91c7c7 212 mod_re = 1;
davidjhoward 57:5f18ae91c7c7 213 Thread::wait(1);
davidjhoward 4:c35db3946fd8 214 for (uint8_t i = 0; i < 8; i++)
davidjhoward 4:c35db3946fd8 215 modbus.putc(L1V[i]);
davidjhoward 4:c35db3946fd8 216
davidjhoward 57:5f18ae91c7c7 217 Thread::wait(2);
davidjhoward 57:5f18ae91c7c7 218 mod_de = 0;
davidjhoward 57:5f18ae91c7c7 219 mod_re = 0;
davidjhoward 4:c35db3946fd8 220
davidjhoward 4:c35db3946fd8 221 }
davidjhoward 4:c35db3946fd8 222
davidjhoward 4:c35db3946fd8 223 bool mbInterruptComplete()
davidjhoward 4:c35db3946fd8 224 {
davidjhoward 4:c35db3946fd8 225 if (modbus_interrupt_complete) {
davidjhoward 4:c35db3946fd8 226 modbus_interrupt_complete = false;
davidjhoward 4:c35db3946fd8 227 return true;
davidjhoward 4:c35db3946fd8 228 } else {
davidjhoward 4:c35db3946fd8 229 return false;
davidjhoward 4:c35db3946fd8 230 }
davidjhoward 4:c35db3946fd8 231 }
davidjhoward 4:c35db3946fd8 232
davidjhoward 15:a6ee32969e8e 233 bool ReadModbus_32bit_float( float *float_value, int order )
davidjhoward 4:c35db3946fd8 234 {
davidjhoward 15:a6ee32969e8e 235 MR_REGISTER_32_BIT_FLOAT value;
davidjhoward 31:4b1587034318 236
davidjhoward 4:c35db3946fd8 237 if (mbInterruptComplete() != true ) {
davidjhoward 4:c35db3946fd8 238 return false;
davidjhoward 4:c35db3946fd8 239 }
davidjhoward 4:c35db3946fd8 240
davidjhoward 15:a6ee32969e8e 241 switch( order ) {
davidjhoward 31:4b1587034318 242 case BigEndian:
davidjhoward 15:a6ee32969e8e 243 value.b.lo_lo = modbus_input_buffer[6];
davidjhoward 15:a6ee32969e8e 244 value.b.lo_hi = modbus_input_buffer[5];
davidjhoward 15:a6ee32969e8e 245 value.b.hi_lo = modbus_input_buffer[4];
davidjhoward 15:a6ee32969e8e 246 value.b.hi_hi = modbus_input_buffer[3];
davidjhoward 15:a6ee32969e8e 247 break;
davidjhoward 15:a6ee32969e8e 248 case BigEndianReverseWord:
davidjhoward 15:a6ee32969e8e 249 value.b.lo_lo = modbus_input_buffer[4];
davidjhoward 15:a6ee32969e8e 250 value.b.lo_hi = modbus_input_buffer[3];
davidjhoward 15:a6ee32969e8e 251 value.b.hi_lo = modbus_input_buffer[6];
davidjhoward 15:a6ee32969e8e 252 value.b.hi_hi = modbus_input_buffer[5];
davidjhoward 15:a6ee32969e8e 253 break;
davidjhoward 15:a6ee32969e8e 254 default:
davidjhoward 15:a6ee32969e8e 255 return false;
davidjhoward 15:a6ee32969e8e 256 }
davidjhoward 15:a6ee32969e8e 257 *float_value = value.f;
davidjhoward 4:c35db3946fd8 258 return true;
davidjhoward 4:c35db3946fd8 259 }