Erick / Mbed 2 deprecated ICE_BLE_TEST

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/ModbusMaster/ModbusMaster.cpp@82:f3e495a98877, 2016-09-20 (annotated)

Committer:
davidjhoward
Date:
Tue Sep 20 15:35:13 2016 +0000
Revision:
82:f3e495a98877
Parent:
81:d45bfa16953a
Child:
83:0f76cfbb4eba
Child:
87:c466bde76fa0
add simulation

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 82:f3e495a98877 30 bool move_up = true;
davidjhoward 8:abe51ae5ef8b 31 MbedJSONValue json_value;
davidjhoward 81:d45bfa16953a 32
davidjhoward 54:ec1b03064bbd 33 modbus_init(MB_BAUD_RATE);
davidjhoward 54:ec1b03064bbd 34 DigitalOut flu_power(PA_11);
davidjhoward 54:ec1b03064bbd 35 flu_power = 0; // provide power to the modbus
jmarkel44 0:65cfa4873284 36
davidjhoward 39:9287c7d59016 37 while( true ) {
davidjhoward 8:abe51ae5ef8b 38
davidjhoward 39:9287c7d59016 39 // configure modbus registers based in all files that start with "input"
davidjhoward 39:9287c7d59016 40 std::vector<mDot::mdot_file> file_list = GLOBAL_mdot->listUserFiles();
davidjhoward 39:9287c7d59016 41 for (std::vector<mDot::mdot_file>::iterator i = file_list.begin(); i != file_list.end(); ++i) {
davidjhoward 8:abe51ae5ef8b 42
davidjhoward 81:d45bfa16953a 43 input = true;
davidjhoward 81:d45bfa16953a 44 if( (strncmp( i->name, "input", (strlen("input")-1)) == 0) ||
davidjhoward 81:d45bfa16953a 45 (strncmp( i->name, "output", (strlen("output")-1)) == 0)) {
davidjhoward 8:abe51ae5ef8b 46
davidjhoward 81:d45bfa16953a 47 if( (strncmp( i->name, "output", (strlen("output")-1)) == 0) ) {
davidjhoward 81:d45bfa16953a 48 input = false;
davidjhoward 81:d45bfa16953a 49 }
davidjhoward 81:d45bfa16953a 50
davidjhoward 81:d45bfa16953a 51 logInfo("(%d)FOUND FILE: %s", __LINE__, i->name);
davidjhoward 42:c703a60993b1 52
davidjhoward 49:0456ee2271be 53 status = GLOBAL_mdot->readUserFile(i->name, ModbusMasterScratchBuf, 1024);
davidjhoward 39:9287c7d59016 54 if( status != true ) {
davidjhoward 45:3b9e1923cb15 55 logInfo("(%d)read file failed, status=%d", __LINE__, status);
davidjhoward 39:9287c7d59016 56 } else {
davidjhoward 45:3b9e1923cb15 57 logInfo("(%d)Read File SUCCESS: %s", __LINE__, ModbusMasterScratchBuf );
davidjhoward 39:9287c7d59016 58 }
davidjhoward 81:d45bfa16953a 59
davidjhoward 42:c703a60993b1 60 parse( json_value, ModbusMasterScratchBuf );
davidjhoward 9:ef0ca2f8a8a6 61
davidjhoward 39:9287c7d59016 62 std::string id = json_value["id"].get<std::string>().c_str();
davidjhoward 39:9287c7d59016 63 ModbusRegisterMap[id].name = json_value["name"].get<std::string>().c_str();
davidjhoward 39:9287c7d59016 64 ModbusRegisterMap[id].units = json_value["units"].get<std::string>().c_str();
davidjhoward 39:9287c7d59016 65 ModbusRegisterMap[id].min = atof(json_value["min"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 66 ModbusRegisterMap[id].max = atof(json_value["max"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 67 ModbusRegisterMap[id].node = atoi(json_value["node"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 68 ModbusRegisterMap[id].reg = atoi(json_value["reg"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 69 ModbusRegisterMap[id].rtype = atoi(json_value["rtype"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 70 ModbusRegisterMap[id].type = atoi(json_value["type"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 71 ModbusRegisterMap[id].size = atoi(json_value["size"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 72 ModbusRegisterMap[id].order = atoi(json_value["order"].get<std::string>().c_str());
davidjhoward 39:9287c7d59016 73 ModbusRegisterMap[id].fmt = json_value["fmt"].get<std::string>().c_str();
davidjhoward 49:0456ee2271be 74 ModbusRegisterMap[id].rfreq = atoi(json_value["rfreq"].get<std::string>().c_str());
davidjhoward 81:d45bfa16953a 75 ModbusRegisterMap[id].input = input;
davidjhoward 82:f3e495a98877 76 ModbusRegisterMap[id].simulated = false;
davidjhoward 15:a6ee32969e8e 77 }
davidjhoward 4:c35db3946fd8 78 }
davidjhoward 31:4b1587034318 79
davidjhoward 39:9287c7d59016 80 // read modbus registers that have been configured.
davidjhoward 39:9287c7d59016 81 while ( true ) {
davidjhoward 39:9287c7d59016 82
davidjhoward 39:9287c7d59016 83 std::map<std::string, ModbusRegister>::iterator iter;
davidjhoward 39:9287c7d59016 84 for (iter = ModbusRegisterMap.begin(); iter != ModbusRegisterMap.end(); ++iter) {
davidjhoward 82:f3e495a98877 85 if( iter->second.simulated == true ) {
davidjhoward 82:f3e495a98877 86 std::map<std::string, SimulateInput>::iterator iter;
davidjhoward 82:f3e495a98877 87 for (iter = SimulateInputMap.begin(); iter != SimulateInputMap.end(); ++iter) {
davidjhoward 82:f3e495a98877 88 if( (SimulateInputMap[iter->first].min == 0) && (SimulateInputMap[iter->first].max == 0) ) {
davidjhoward 82:f3e495a98877 89 ModbusRegisterMap[iter->first].float_value = SimulateInputMap[iter->first].start_value;
davidjhoward 82:f3e495a98877 90 } else {
davidjhoward 82:f3e495a98877 91 if( ModbusRegisterMap[iter->first].float_value >= SimulateInputMap[iter->first].max ) {
davidjhoward 82:f3e495a98877 92 move_up = false;
davidjhoward 82:f3e495a98877 93 ModbusRegisterMap[iter->first].float_value = ModbusRegisterMap[iter->first].float_value - SimulateInputMap[iter->first].step;
davidjhoward 82:f3e495a98877 94 } else if( ModbusRegisterMap[iter->first].float_value <= SimulateInputMap[iter->first].min ) {
davidjhoward 82:f3e495a98877 95 move_up = true;
davidjhoward 82:f3e495a98877 96 ModbusRegisterMap[iter->first].float_value = ModbusRegisterMap[iter->first].float_value + SimulateInputMap[iter->first].step;
davidjhoward 82:f3e495a98877 97 } else {
davidjhoward 82:f3e495a98877 98 if( move_up == true ) {
davidjhoward 82:f3e495a98877 99 ModbusRegisterMap[iter->first].float_value = ModbusRegisterMap[iter->first].float_value + SimulateInputMap[iter->first].step;
davidjhoward 82:f3e495a98877 100 } else {
davidjhoward 82:f3e495a98877 101 ModbusRegisterMap[iter->first].float_value = ModbusRegisterMap[iter->first].float_value - SimulateInputMap[iter->first].step;
davidjhoward 82:f3e495a98877 102 }
davidjhoward 82:f3e495a98877 103 }
davidjhoward 82:f3e495a98877 104 logInfo("simulating input=%s, value=%2.2f",iter->first.c_str(), ModbusRegisterMap[iter->first].float_value);
davidjhoward 82:f3e495a98877 105 }
davidjhoward 82:f3e495a98877 106 }
davidjhoward 82:f3e495a98877 107 continue;
davidjhoward 82:f3e495a98877 108 }
davidjhoward 81:d45bfa16953a 109 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 110 SendModbusCommand(iter->second.node, iter->second.reg, iter->second.size);
davidjhoward 57:5f18ae91c7c7 111 Thread::wait(30);
davidjhoward 39:9287c7d59016 112
davidjhoward 39:9287c7d59016 113 switch( iter->second.type ) {
davidjhoward 39:9287c7d59016 114 case TYPE_32BIT_FLOAT:
davidjhoward 39:9287c7d59016 115 float float_value;
davidjhoward 39:9287c7d59016 116 status = ReadModbus_32bit_float( &float_value, iter->second.order );
davidjhoward 39:9287c7d59016 117 if( status == true ) {
davidjhoward 39:9287c7d59016 118 ModbusRegisterMap[iter->first].float_value = float_value;
davidjhoward 54:ec1b03064bbd 119 logInfo("Modbus Tag:%s value=%2.2f", iter->first.c_str(), float_value );
davidjhoward 81:d45bfa16953a 120 } else {
davidjhoward 54:ec1b03064bbd 121 logInfo("Modbus Read Failed, tag=%s", iter->first.c_str() );
davidjhoward 39:9287c7d59016 122 }
davidjhoward 39:9287c7d59016 123 break;
davidjhoward 39:9287c7d59016 124 case TYPE_32BIT_INT:
davidjhoward 39:9287c7d59016 125 break;
davidjhoward 39:9287c7d59016 126 case TYPE_32BIT_UINT:
davidjhoward 39:9287c7d59016 127 break;
davidjhoward 39:9287c7d59016 128 case TYPE_16BIT_INT:
davidjhoward 39:9287c7d59016 129 break;
davidjhoward 39:9287c7d59016 130 case TYPE_16BIT_UINT:
davidjhoward 39:9287c7d59016 131 break;
davidjhoward 39:9287c7d59016 132 default:
davidjhoward 39:9287c7d59016 133 break;
davidjhoward 39:9287c7d59016 134 }
davidjhoward 82:f3e495a98877 135
davidjhoward 82:f3e495a98877 136 if( iter->second.input == false ) {
davidjhoward 82:f3e495a98877 137 logInfo("processing output=%s, reg=%d, value=%d",iter->first.c_str(), ModbusRegisterMap[iter->first].reg, (bool)ModbusRegisterMap[iter->first].float_value);
davidjhoward 82:f3e495a98877 138 if( ModbusRegisterMap[iter->first].reg == 1 ) {
davidjhoward 81:d45bfa16953a 139 dout1 = (bool)ModbusRegisterMap[iter->first].float_value;
davidjhoward 82:f3e495a98877 140 } else {
davidjhoward 81:d45bfa16953a 141 dout2 = (bool)ModbusRegisterMap[iter->first].float_value;
davidjhoward 81:d45bfa16953a 142 }
davidjhoward 81:d45bfa16953a 143 }
davidjhoward 39:9287c7d59016 144 }
davidjhoward 39:9287c7d59016 145
davidjhoward 39:9287c7d59016 146 logInfo("Checking for MAIL");
davidjhoward 39:9287c7d59016 147 osEvent evt = ModbusMasterMailBox.get(50);
davidjhoward 39:9287c7d59016 148 if (evt.status == osEventMail) {
davidjhoward 39:9287c7d59016 149 Message_t *mail = (Message_t*)evt.value.p;
davidjhoward 39:9287c7d59016 150 logInfo("Mail Received: Action: %d, New Input File: %s", mail->action, mail->controlFile);
davidjhoward 39:9287c7d59016 151 ModbusMasterMailBox.free(mail);
davidjhoward 39:9287c7d59016 152 ModbusRegisterMap.clear();
davidjhoward 39:9287c7d59016 153 break;
davidjhoward 39:9287c7d59016 154 } else {
davidjhoward 39:9287c7d59016 155 logInfo("No Mail");
davidjhoward 39:9287c7d59016 156 }
davidjhoward 57:5f18ae91c7c7 157 Thread::wait(5000);
davidjhoward 31:4b1587034318 158 }
jmarkel44 0:65cfa4873284 159 }
davidjhoward 4:c35db3946fd8 160 }
davidjhoward 4:c35db3946fd8 161
davidjhoward 4:c35db3946fd8 162
davidjhoward 4:c35db3946fd8 163 volatile char modbus_buffer_char;
davidjhoward 4:c35db3946fd8 164 volatile bool modbus_interrupt_complete = false;
davidjhoward 4:c35db3946fd8 165
davidjhoward 4:c35db3946fd8 166 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 167 volatile uint8_t modbus_input_buffer_counter = 0;
davidjhoward 4:c35db3946fd8 168
davidjhoward 4:c35db3946fd8 169 //Frame crc calucation
davidjhoward 4:c35db3946fd8 170 uint16_t modbus_crc(uint8_t* buf, int len)
davidjhoward 4:c35db3946fd8 171 {
davidjhoward 4:c35db3946fd8 172 uint16_t crc = 0xFFFF;
davidjhoward 4:c35db3946fd8 173
davidjhoward 4:c35db3946fd8 174 for (int pos = 0; pos < len; pos++) {
davidjhoward 4:c35db3946fd8 175 crc ^= (uint16_t)buf[pos]; // XOR byte into least sig. byte of crc
davidjhoward 4:c35db3946fd8 176
davidjhoward 4:c35db3946fd8 177 for (int i = 8; i != 0; i--) {
davidjhoward 4:c35db3946fd8 178 // Loop over each bit
davidjhoward 4:c35db3946fd8 179 if ((crc & 0x0001) != 0) {
davidjhoward 4:c35db3946fd8 180 // If the LSB is set
davidjhoward 4:c35db3946fd8 181 crc >>= 1; // Shift right and XOR 0xA001
davidjhoward 4:c35db3946fd8 182 crc ^= 0xA001;
davidjhoward 4:c35db3946fd8 183 } else // Else LSB is not set
davidjhoward 4:c35db3946fd8 184 crc >>= 1; // Just shift right
davidjhoward 4:c35db3946fd8 185 }
davidjhoward 4:c35db3946fd8 186 }
davidjhoward 4:c35db3946fd8 187 // Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
davidjhoward 4:c35db3946fd8 188 return crc;
davidjhoward 4:c35db3946fd8 189 }
davidjhoward 4:c35db3946fd8 190
davidjhoward 4:c35db3946fd8 191 RawSerial modbus(PA_2, PA_3);
davidjhoward 57:5f18ae91c7c7 192 DigitalOut mod_de(PB_0);
davidjhoward 57:5f18ae91c7c7 193 DigitalOut mod_re(PB_1);
davidjhoward 4:c35db3946fd8 194
davidjhoward 4:c35db3946fd8 195 void modbus_init( uint16_t baudRate )
davidjhoward 4:c35db3946fd8 196 {
davidjhoward 4:c35db3946fd8 197 modbus.baud(baudRate);
davidjhoward 4:c35db3946fd8 198 modbus.attach(&modbus_recv, RawSerial::RxIrq);
davidjhoward 4:c35db3946fd8 199 }
davidjhoward 4:c35db3946fd8 200
davidjhoward 4:c35db3946fd8 201 //call back when character goes into RX buffer for RS485 modbus
davidjhoward 4:c35db3946fd8 202 void modbus_recv()
davidjhoward 4:c35db3946fd8 203 {
davidjhoward 4:c35db3946fd8 204
davidjhoward 4:c35db3946fd8 205 if (modbus.readable()) {
davidjhoward 4:c35db3946fd8 206 modbus_buffer_char = modbus.getc();
davidjhoward 4:c35db3946fd8 207 if (modbus_input_buffer_counter == 0 && modbus_buffer_char == 0x00) {
davidjhoward 4:c35db3946fd8 208 modbus_input_buffer_counter = 0;
davidjhoward 4:c35db3946fd8 209 } else {
davidjhoward 4:c35db3946fd8 210 modbus_input_buffer[modbus_input_buffer_counter] = modbus_buffer_char;
davidjhoward 4:c35db3946fd8 211 modbus_input_buffer_counter++;
davidjhoward 4:c35db3946fd8 212 }
davidjhoward 4:c35db3946fd8 213 }
davidjhoward 4:c35db3946fd8 214
davidjhoward 4:c35db3946fd8 215 if (modbus_input_buffer_counter > modbus_input_buffer[2] + 4) {
davidjhoward 4:c35db3946fd8 216 modbus_interrupt_complete = true;
davidjhoward 4:c35db3946fd8 217 modbus_input_buffer_counter = 0;
davidjhoward 4:c35db3946fd8 218 }
davidjhoward 4:c35db3946fd8 219 }
davidjhoward 4:c35db3946fd8 220
davidjhoward 4:c35db3946fd8 221 // Read modbus master frame
davidjhoward 9:ef0ca2f8a8a6 222 void SendModbusCommand(uint8_t slave_address, uint16_t firstReg, uint16_t noRegs)
davidjhoward 4:c35db3946fd8 223 {
davidjhoward 4:c35db3946fd8 224 uint8_t L1V[8] = {slave_address, 0x04, 0x00, 0x02, 0x00, 0x02, 0xD1, 0x16};
davidjhoward 4:c35db3946fd8 225
davidjhoward 4:c35db3946fd8 226 L1V[2] = (firstReg >> 8) & 0xFF;
davidjhoward 4:c35db3946fd8 227 L1V[3] = firstReg & 0xFF;
davidjhoward 4:c35db3946fd8 228 L1V[4] = (noRegs >> 8) & 0xFF;
davidjhoward 4:c35db3946fd8 229 L1V[5] = noRegs & 0xFF;
davidjhoward 4:c35db3946fd8 230 L1V[6] = modbus_crc(L1V,6) & 0xFF;
davidjhoward 4:c35db3946fd8 231 L1V[7] = (modbus_crc(L1V,6)>>8) & 0xFF;
davidjhoward 4:c35db3946fd8 232
davidjhoward 57:5f18ae91c7c7 233 mod_de = 1;
davidjhoward 57:5f18ae91c7c7 234 mod_re = 1;
davidjhoward 57:5f18ae91c7c7 235 Thread::wait(1);
davidjhoward 4:c35db3946fd8 236 for (uint8_t i = 0; i < 8; i++)
davidjhoward 4:c35db3946fd8 237 modbus.putc(L1V[i]);
davidjhoward 4:c35db3946fd8 238
davidjhoward 57:5f18ae91c7c7 239 Thread::wait(2);
davidjhoward 57:5f18ae91c7c7 240 mod_de = 0;
davidjhoward 57:5f18ae91c7c7 241 mod_re = 0;
davidjhoward 4:c35db3946fd8 242
davidjhoward 4:c35db3946fd8 243 }
davidjhoward 4:c35db3946fd8 244
davidjhoward 4:c35db3946fd8 245 bool mbInterruptComplete()
davidjhoward 4:c35db3946fd8 246 {
davidjhoward 4:c35db3946fd8 247 if (modbus_interrupt_complete) {
davidjhoward 4:c35db3946fd8 248 modbus_interrupt_complete = false;
davidjhoward 4:c35db3946fd8 249 return true;
davidjhoward 4:c35db3946fd8 250 } else {
davidjhoward 4:c35db3946fd8 251 return false;
davidjhoward 4:c35db3946fd8 252 }
davidjhoward 4:c35db3946fd8 253 }
davidjhoward 4:c35db3946fd8 254
davidjhoward 15:a6ee32969e8e 255 bool ReadModbus_32bit_float( float *float_value, int order )
davidjhoward 4:c35db3946fd8 256 {
davidjhoward 15:a6ee32969e8e 257 MR_REGISTER_32_BIT_FLOAT value;
davidjhoward 31:4b1587034318 258
davidjhoward 4:c35db3946fd8 259 if (mbInterruptComplete() != true ) {
davidjhoward 4:c35db3946fd8 260 return false;
davidjhoward 4:c35db3946fd8 261 }
davidjhoward 4:c35db3946fd8 262
davidjhoward 15:a6ee32969e8e 263 switch( order ) {
davidjhoward 31:4b1587034318 264 case BigEndian:
davidjhoward 15:a6ee32969e8e 265 value.b.lo_lo = modbus_input_buffer[6];
davidjhoward 15:a6ee32969e8e 266 value.b.lo_hi = modbus_input_buffer[5];
davidjhoward 15:a6ee32969e8e 267 value.b.hi_lo = modbus_input_buffer[4];
davidjhoward 15:a6ee32969e8e 268 value.b.hi_hi = modbus_input_buffer[3];
davidjhoward 15:a6ee32969e8e 269 break;
davidjhoward 15:a6ee32969e8e 270 case BigEndianReverseWord:
davidjhoward 15:a6ee32969e8e 271 value.b.lo_lo = modbus_input_buffer[4];
davidjhoward 15:a6ee32969e8e 272 value.b.lo_hi = modbus_input_buffer[3];
davidjhoward 15:a6ee32969e8e 273 value.b.hi_lo = modbus_input_buffer[6];
davidjhoward 15:a6ee32969e8e 274 value.b.hi_hi = modbus_input_buffer[5];
davidjhoward 15:a6ee32969e8e 275 break;
davidjhoward 15:a6ee32969e8e 276 default:
davidjhoward 15:a6ee32969e8e 277 return false;
davidjhoward 15:a6ee32969e8e 278 }
davidjhoward 15:a6ee32969e8e 279 *float_value = value.f;
davidjhoward 4:c35db3946fd8 280 return true;
davidjhoward 4:c35db3946fd8 281 }