Bruno Cavalcanti / Mbed 2 deprecated brunoDrome

teste de publish

Dependencies:   DS1820 HighSpeedAnalogIn devices mbed

modbusMaster1.cpp@38:07d3907b74e5, 2018-06-08 (annotated)

Committer:
brunofgc
Date:
Fri Jun 08 22:14:21 2018 +0000
Revision:
38:07d3907b74e5
Parent:
37:0e95c85f0160 
teste de publish para compilar no mbed-cli

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brunofgc 0:1c0a769988ee 1 #include "modbusMaster1.h"
brunofgc 32:7cf1fb8a8bf3 2 #define maxRetentativas 5
brunofgc 32:7cf1fb8a8bf3 3 #define maxDelayEntreTentativas 100
brunofgc 0:1c0a769988ee 4 //RAD
brunofgc 0:1c0a769988ee 5 enum {
brunofgc 0:1c0a769988ee 6 READ_COIL_STATUS = 1,
brunofgc 0:1c0a769988ee 7 READ_INPUT_STATUS,
brunofgc 0:1c0a769988ee 8 READ_HOLDING_REGISTERS,
brunofgc 0:1c0a769988ee 9 READ_INPUT_REGISTERS,
brunofgc 0:1c0a769988ee 10 WRITE_SINGLE_COIL,
brunofgc 0:1c0a769988ee 11 WRITE_SINGLE_REGISTER,
brunofgc 0:1c0a769988ee 12 WRITE_MULTIPLE_COILS,
brunofgc 0:1c0a769988ee 13 WRITE_MULTIPLE_REGISTERS
brunofgc 0:1c0a769988ee 14 }modBusFunctions;
brunofgc 0:1c0a769988ee 15
brunofgc 26:c246eacf6815 16 uint16_t modBusMaster1::T3_5;
brunofgc 26:c246eacf6815 17 uint16_t modBusMaster1::T1_5;
brunofgc 0:1c0a769988ee 18 bool modBusMaster1::pacoteEmEspera;
brunofgc 32:7cf1fb8a8bf3 19 bool modBusMaster1::pacoteEmEsperaValido;
brunofgc 25:a6da63ed025b 20 uint16_t modBusMaster1::MODBUS_TIMEOUT;
brunofgc 0:1c0a769988ee 21 bool modBusMaster1::startThreadModBusMaster;
brunofgc 0:1c0a769988ee 22 Serial *modBusMaster1::serModBus;
brunofgc 0:1c0a769988ee 23 DigitalOut *modBusMaster1::de;
brunofgc 0:1c0a769988ee 24 uint16_t modBusMaster1::MODBUS_SERIAL_BAUD;
brunofgc 0:1c0a769988ee 25
brunofgc 0:1c0a769988ee 26 uint8_t modBusMaster1::buffer[maxLenBufModBus]; //Buffer in e out;
brunofgc 0:1c0a769988ee 27 uint16_t modBusMaster1::index;
brunofgc 0:1c0a769988ee 28
brunofgc 0:1c0a769988ee 29 //Timer
brunofgc 0:1c0a769988ee 30 osTimerId modBusMaster1::timer_pacote;
brunofgc 0:1c0a769988ee 31 osTimerDef(timerProcessaPacoteModBusMaster1,modBusMaster1::processaPacote);
brunofgc 0:1c0a769988ee 32 //Timer
brunofgc 0:1c0a769988ee 33
brunofgc 0:1c0a769988ee 34 void modBusMaster1::processaPacote(void const *){
brunofgc 0:1c0a769988ee 35 //Validando CRC
brunofgc 0:1c0a769988ee 36 uint16_t crc_calculado;
brunofgc 0:1c0a769988ee 37 uint16_t crc_lido;
brunofgc 0:1c0a769988ee 38
brunofgc 25:a6da63ed025b 39 if(debug){
brunofgc 25:a6da63ed025b 40 //Lido resposta DEBUG
brunofgc 25:a6da63ed025b 41 pc.printf("Lido de resposta modbus <");
brunofgc 25:a6da63ed025b 42 for(crc_lido = 0; crc_lido < modBusMaster1::index; crc_lido++){
brunofgc 25:a6da63ed025b 43 pc.printf("%02X ",modBusMaster1::buffer[crc_lido]);
brunofgc 25:a6da63ed025b 44 }
brunofgc 25:a6da63ed025b 45 pc.printf(">.\n");
brunofgc 0:1c0a769988ee 46 }
brunofgc 0:1c0a769988ee 47 if(modBusMaster1::index<3){
brunofgc 0:1c0a769988ee 48 modBusMaster1::pacoteEmEspera=false;
brunofgc 0:1c0a769988ee 49 return;
brunofgc 0:1c0a769988ee 50 }
brunofgc 0:1c0a769988ee 51
brunofgc 0:1c0a769988ee 52 crc_calculado = modBusMaster1::CRC16(modBusMaster1::buffer,modBusMaster1::index-2);
brunofgc 0:1c0a769988ee 53 crc_lido = (modBusMaster1::buffer[modBusMaster1::index-2]<<8)+(modBusMaster1::buffer[modBusMaster1::index-1]);
brunofgc 0:1c0a769988ee 54
brunofgc 32:7cf1fb8a8bf3 55 modBusMaster1::pacoteEmEspera=true;
brunofgc 0:1c0a769988ee 56 if(crc_calculado == crc_lido){
brunofgc 32:7cf1fb8a8bf3 57 modBusMaster1::pacoteEmEsperaValido=true;
brunofgc 0:1c0a769988ee 58 }
brunofgc 0:1c0a769988ee 59 //pc.printf("crc_calculado = 0x%02x, crc_lido = 0x%02x.\n",crc_calculado,crc_lido);
brunofgc 0:1c0a769988ee 60 }
brunofgc 0:1c0a769988ee 61
brunofgc 0:1c0a769988ee 62 uint16_t modBusMaster1::CRC16(uint8_t *buf,uint16_t len){
brunofgc 0:1c0a769988ee 63 uint16_t crc = 0xFFFF;
brunofgc 0:1c0a769988ee 64 uint16_t pos;
brunofgc 0:1c0a769988ee 65 uint16_t i;
brunofgc 0:1c0a769988ee 66 for (pos = 0; pos < len; pos++) {
brunofgc 0:1c0a769988ee 67 crc ^= buf[pos]; // XOR byte into least sig. byte of crc
brunofgc 0:1c0a769988ee 68
brunofgc 0:1c0a769988ee 69 for (i = 8; i != 0; i--) { // Loop over each bit
brunofgc 0:1c0a769988ee 70 if ((crc & 0x0001) != 0) { // If the LSB is set
brunofgc 0:1c0a769988ee 71 crc >>= 1; // Shift right and XOR 0xA001
brunofgc 0:1c0a769988ee 72 crc ^= 0xA001;
brunofgc 0:1c0a769988ee 73 }
brunofgc 0:1c0a769988ee 74 else // Else LSB is not set
brunofgc 0:1c0a769988ee 75 crc >>= 1; // Just shift right
brunofgc 0:1c0a769988ee 76 }
brunofgc 0:1c0a769988ee 77 }
brunofgc 0:1c0a769988ee 78 // Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
brunofgc 0:1c0a769988ee 79 return ((crc<<8)+(crc>>8));
brunofgc 0:1c0a769988ee 80 }
brunofgc 0:1c0a769988ee 81
brunofgc 0:1c0a769988ee 82 void modBusMaster1::modBusMaster(Serial *serial,uint32_t baud,DigitalOut *pinDe){
brunofgc 0:1c0a769988ee 83 modBusMaster1::serModBus = serial;
brunofgc 0:1c0a769988ee 84 modBusMaster1::de = pinDe;
brunofgc 0:1c0a769988ee 85 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 86 *modBusMaster1::de = 0;
brunofgc 0:1c0a769988ee 87 modBusMaster1::serModBus->attach(&modBusMaster1::processaCaractere);
brunofgc 0:1c0a769988ee 88 modBusMaster1::serModBus->baud(baud);
brunofgc 25:a6da63ed025b 89 modBusMaster1::pacoteEmEspera = false;
brunofgc 0:1c0a769988ee 90 //Criando timer_pacote
brunofgc 0:1c0a769988ee 91 modBusMaster1::timer_pacote = osTimerCreate(osTimer(timerProcessaPacoteModBusMaster1),osTimerOnce,NULL);
brunofgc 0:1c0a769988ee 92 }
brunofgc 0:1c0a769988ee 93
brunofgc 25:a6da63ed025b 94 void modBusMaster1::setBaud(uint32_t baud){
brunofgc 25:a6da63ed025b 95 modBusMaster1::serModBus->baud(baud);
brunofgc 26:c246eacf6815 96 if (baud > 19200){
brunofgc 26:c246eacf6815 97 modBusMaster1::T1_5 = 750;
brunofgc 26:c246eacf6815 98 modBusMaster1::T3_5 = 1750;
brunofgc 26:c246eacf6815 99 }else {
brunofgc 26:c246eacf6815 100 modBusMaster1::T1_5 = 15000000/baud;
brunofgc 26:c246eacf6815 101 modBusMaster1::T3_5 = 35000000/baud;
brunofgc 26:c246eacf6815 102 }
brunofgc 25:a6da63ed025b 103 }
brunofgc 25:a6da63ed025b 104
brunofgc 25:a6da63ed025b 105
brunofgc 25:a6da63ed025b 106
brunofgc 0:1c0a769988ee 107 void modBusMaster1::processaCaractere(){
brunofgc 0:1c0a769988ee 108 uint32_t RBR = LPC_UART1->RBR; //Reset RBR interrupt flag e captura o caractere entrante
brunofgc 0:1c0a769988ee 109 modBusMaster1::buffer[modBusMaster1::index]=RBR;
brunofgc 0:1c0a769988ee 110 modBusMaster1::index++;
brunofgc 0:1c0a769988ee 111 if(modBusMaster1::index>=maxLenBufModBus){
brunofgc 0:1c0a769988ee 112 modBusMaster1::index=modBusMaster1::index-1;
brunofgc 0:1c0a769988ee 113 }
brunofgc 0:1c0a769988ee 114 modBusMaster1::startThreadModBusMaster=true;
brunofgc 0:1c0a769988ee 115 osSignalSet(idThreadTimers, 0x1); //Envia sinal para a thread de manipulação dos timers para ativar os timers agendados
brunofgc 0:1c0a769988ee 116 //comLedIn=!comLedIn;
brunofgc 0:1c0a769988ee 117 //pc.printf("%c",RBR);
brunofgc 0:1c0a769988ee 118 }
brunofgc 0:1c0a769988ee 119
brunofgc 0:1c0a769988ee 120 uint16_t modBusMaster1::sendFrame(uint16_t tamBytes){
brunofgc 25:a6da63ed025b 121 uint16_t timeout = modBusMaster1::MODBUS_TIMEOUT;
brunofgc 37:0e95c85f0160 122 timeout /=10;
brunofgc 0:1c0a769988ee 123 uint16_t i;
brunofgc 26:c246eacf6815 124
brunofgc 32:7cf1fb8a8bf3 125 if(debug){
brunofgc 32:7cf1fb8a8bf3 126 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 127 pc.printf("Frame enviado (hexa) <");
brunofgc 25:a6da63ed025b 128 for(i=0;i<tamBytes;i++){
brunofgc 32:7cf1fb8a8bf3 129 pc.printf("%02x ",modBusMaster1::buffer[i]);
brunofgc 25:a6da63ed025b 130 }
brunofgc 32:7cf1fb8a8bf3 131 pc.printf(">.\n");
brunofgc 25:a6da63ed025b 132 }
brunofgc 32:7cf1fb8a8bf3 133
brunofgc 32:7cf1fb8a8bf3 134 //osDelay(5);
brunofgc 32:7cf1fb8a8bf3 135
brunofgc 32:7cf1fb8a8bf3 136 modBusMaster1::pacoteEmEspera = false;
brunofgc 32:7cf1fb8a8bf3 137 modBusMaster1::index=0;
brunofgc 32:7cf1fb8a8bf3 138 *modBusMaster1::de=1;
brunofgc 32:7cf1fb8a8bf3 139 //wait_us(1750);
brunofgc 32:7cf1fb8a8bf3 140 osDelay(1);
brunofgc 32:7cf1fb8a8bf3 141 for(i=0;i<tamBytes;i++){
brunofgc 32:7cf1fb8a8bf3 142 modBusMaster1::serModBus->putc(modBusMaster1::buffer[i]);
brunofgc 32:7cf1fb8a8bf3 143 //wait_us(750);
brunofgc 32:7cf1fb8a8bf3 144 while(
brunofgc 32:7cf1fb8a8bf3 145 ((LPC_UART1->LSR >> 6) &0x1)
brunofgc 32:7cf1fb8a8bf3 146 == 0 );
brunofgc 32:7cf1fb8a8bf3 147 //wait_us(modBusMaster1::T1_5);
brunofgc 32:7cf1fb8a8bf3 148 }
brunofgc 32:7cf1fb8a8bf3 149 //wait_us(1750);
brunofgc 32:7cf1fb8a8bf3 150 //osDelay(1);
brunofgc 32:7cf1fb8a8bf3 151 *modBusMaster1::de=0;
brunofgc 32:7cf1fb8a8bf3 152
brunofgc 32:7cf1fb8a8bf3 153 while((timeout>0)&&(modBusMaster1::pacoteEmEspera!=true)){
brunofgc 37:0e95c85f0160 154 osDelay(10);
brunofgc 32:7cf1fb8a8bf3 155 //wait_us(1000);
brunofgc 32:7cf1fb8a8bf3 156 timeout--;
brunofgc 32:7cf1fb8a8bf3 157 }
brunofgc 32:7cf1fb8a8bf3 158 wait_us(modBusMaster1::T3_5*2);
brunofgc 0:1c0a769988ee 159 return timeout;
brunofgc 0:1c0a769988ee 160 }
brunofgc 0:1c0a769988ee 161
brunofgc 0:1c0a769988ee 162 uint8_t modBusMaster1::readRegister16BIT(uint8_t enderecoSlave,uint8_t funcao,uint16_t registrador,uint16_t qtdRegistros,uint16_t *var){
brunofgc 0:1c0a769988ee 163 union{
brunofgc 0:1c0a769988ee 164 char c[2];
brunofgc 0:1c0a769988ee 165 uint16_t v;
brunofgc 0:1c0a769988ee 166 }u;
brunofgc 0:1c0a769988ee 167 uint16_t crc;
brunofgc 0:1c0a769988ee 168 uint16_t qtd_dados_recebidos;
brunofgc 0:1c0a769988ee 169 uint16_t i;
brunofgc 0:1c0a769988ee 170 uint8_t result;
brunofgc 0:1c0a769988ee 171
brunofgc 18:1eefda1f7736 172 for(i=0;i<qtdRegistros;i++){
brunofgc 18:1eefda1f7736 173 var[i]=NULL;
brunofgc 18:1eefda1f7736 174 }
brunofgc 32:7cf1fb8a8bf3 175
brunofgc 32:7cf1fb8a8bf3 176 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 177 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 178 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 179 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 180 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 181 modBusMaster1::buffer[1]=funcao;
brunofgc 32:7cf1fb8a8bf3 182 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 183 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 184 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 185 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 186
brunofgc 32:7cf1fb8a8bf3 187 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 188
brunofgc 32:7cf1fb8a8bf3 189 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 190 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 32:7cf1fb8a8bf3 191
brunofgc 32:7cf1fb8a8bf3 192 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 193 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 194 retentativas--;
brunofgc 32:7cf1fb8a8bf3 195 if(debug){
brunofgc 32:7cf1fb8a8bf3 196 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 197 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 198 }
brunofgc 32:7cf1fb8a8bf3 199 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 200 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 201 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 202 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 203 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 204 return 254;
brunofgc 32:7cf1fb8a8bf3 205 }
brunofgc 32:7cf1fb8a8bf3 206 }else{
brunofgc 32:7cf1fb8a8bf3 207 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 208 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 209 }
brunofgc 0:1c0a769988ee 210 }
brunofgc 32:7cf1fb8a8bf3 211 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 212 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 213 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 214 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 215 return 255;
brunofgc 0:1c0a769988ee 216 }
brunofgc 32:7cf1fb8a8bf3 217 //-----------------Bloco de tentativas---------------------
brunofgc 0:1c0a769988ee 218
brunofgc 0:1c0a769988ee 219 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 220 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 221 }else{
brunofgc 0:1c0a769988ee 222 qtd_dados_recebidos = modBusMaster1::buffer[2]/2;
brunofgc 0:1c0a769988ee 223 for(i=0;i<qtd_dados_recebidos;i++){
brunofgc 0:1c0a769988ee 224 u.c[1]=modBusMaster1::buffer[(i*2)+3];
brunofgc 0:1c0a769988ee 225 u.c[0]=modBusMaster1::buffer[(i*2)+4];
brunofgc 0:1c0a769988ee 226 var[i]=u.v;
brunofgc 0:1c0a769988ee 227 }
brunofgc 0:1c0a769988ee 228 result = 0;
brunofgc 0:1c0a769988ee 229 }
brunofgc 0:1c0a769988ee 230
brunofgc 0:1c0a769988ee 231
brunofgc 0:1c0a769988ee 232
brunofgc 0:1c0a769988ee 233 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 234 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 235 return result;
brunofgc 0:1c0a769988ee 236 }
brunofgc 0:1c0a769988ee 237
brunofgc 0:1c0a769988ee 238 uint8_t modBusMaster1::writeSingleCoil(uint8_t enderecoSlave,uint16_t registrador,bool var){
brunofgc 0:1c0a769988ee 239 uint16_t crc;
brunofgc 18:1eefda1f7736 240 uint16_t estadoSetado;
brunofgc 32:7cf1fb8a8bf3 241 uint8_t result = 0;
brunofgc 32:7cf1fb8a8bf3 242 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 243 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 244 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 245 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 246 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 247 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 248 modBusMaster1::buffer[1]=5;
brunofgc 32:7cf1fb8a8bf3 249 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 250 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 251
brunofgc 32:7cf1fb8a8bf3 252 if(var){
brunofgc 32:7cf1fb8a8bf3 253 modBusMaster1::buffer[4]=0xFF;
brunofgc 32:7cf1fb8a8bf3 254 modBusMaster1::buffer[5]=0x00;
brunofgc 32:7cf1fb8a8bf3 255 estadoSetado = 0xFF00;
brunofgc 32:7cf1fb8a8bf3 256
brunofgc 32:7cf1fb8a8bf3 257 }else{
brunofgc 32:7cf1fb8a8bf3 258 modBusMaster1::buffer[4]=0x00;
brunofgc 32:7cf1fb8a8bf3 259 modBusMaster1::buffer[5]=0x00;
brunofgc 32:7cf1fb8a8bf3 260 estadoSetado = 0x0000;
brunofgc 32:7cf1fb8a8bf3 261 }
brunofgc 32:7cf1fb8a8bf3 262
brunofgc 32:7cf1fb8a8bf3 263
brunofgc 32:7cf1fb8a8bf3 264 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 265
brunofgc 32:7cf1fb8a8bf3 266 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 267 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 32:7cf1fb8a8bf3 268 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 269 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 270 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 271 retentativas--;
brunofgc 32:7cf1fb8a8bf3 272 if(debug){
brunofgc 32:7cf1fb8a8bf3 273 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 274 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 275 }
brunofgc 32:7cf1fb8a8bf3 276 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 277 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 278 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 279 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 280 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 281 return 254;
brunofgc 32:7cf1fb8a8bf3 282 }
brunofgc 32:7cf1fb8a8bf3 283 }else{
brunofgc 32:7cf1fb8a8bf3 284 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 285 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 286 }
brunofgc 32:7cf1fb8a8bf3 287 }
brunofgc 32:7cf1fb8a8bf3 288 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 32:7cf1fb8a8bf3 289 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 290 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 291 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 292 return 255;
brunofgc 32:7cf1fb8a8bf3 293 }
brunofgc 32:7cf1fb8a8bf3 294 //-----------------Bloco de tentativas---------------------
brunofgc 0:1c0a769988ee 295
brunofgc 32:7cf1fb8a8bf3 296
brunofgc 32:7cf1fb8a8bf3 297 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 32:7cf1fb8a8bf3 298 result = modBusMaster1::buffer[2];
brunofgc 32:7cf1fb8a8bf3 299 }else{
brunofgc 32:7cf1fb8a8bf3 300 if(
brunofgc 32:7cf1fb8a8bf3 301 (((modBusMaster1::buffer[2]<<8)+(modBusMaster1::buffer[3]))==registrador)
brunofgc 32:7cf1fb8a8bf3 302 &&
brunofgc 32:7cf1fb8a8bf3 303 (((modBusMaster1::buffer[4]<<8)+(modBusMaster1::buffer[5]))==estadoSetado)
brunofgc 32:7cf1fb8a8bf3 304 ){
brunofgc 32:7cf1fb8a8bf3 305 result=0;
brunofgc 32:7cf1fb8a8bf3 306 }else{
brunofgc 32:7cf1fb8a8bf3 307 result=253;
brunofgc 32:7cf1fb8a8bf3 308 }
brunofgc 32:7cf1fb8a8bf3 309 }
brunofgc 0:1c0a769988ee 310 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 311 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 312 return result;
brunofgc 0:1c0a769988ee 313 }
brunofgc 0:1c0a769988ee 314
brunofgc 0:1c0a769988ee 315 uint8_t modBusMaster1::readCoils(uint8_t enderecoSlave,uint16_t registrador,uint16_t qtdRegistros,bool *var){
brunofgc 0:1c0a769988ee 316 uint16_t crc;
brunofgc 0:1c0a769988ee 317 uint8_t result;
brunofgc 0:1c0a769988ee 318 uint16_t i;
brunofgc 32:7cf1fb8a8bf3 319 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 320 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 321 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 322 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 323 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 324
brunofgc 32:7cf1fb8a8bf3 325 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 326 modBusMaster1::buffer[1]=1;
brunofgc 32:7cf1fb8a8bf3 327 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 328 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 329 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 330 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 331
brunofgc 32:7cf1fb8a8bf3 332 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 333
brunofgc 32:7cf1fb8a8bf3 334 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 335 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 0:1c0a769988ee 336
brunofgc 32:7cf1fb8a8bf3 337 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 338 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 339 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 340 retentativas--;
brunofgc 32:7cf1fb8a8bf3 341 if(debug){
brunofgc 32:7cf1fb8a8bf3 342 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 343 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 344 }
brunofgc 32:7cf1fb8a8bf3 345 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 346 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 347 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 348 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 349 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 350 return 254;
brunofgc 32:7cf1fb8a8bf3 351 }
brunofgc 32:7cf1fb8a8bf3 352 }else{
brunofgc 32:7cf1fb8a8bf3 353 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 354 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 355 }
brunofgc 0:1c0a769988ee 356 }
brunofgc 32:7cf1fb8a8bf3 357 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 358 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 359 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 360 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 361 return 255;
brunofgc 0:1c0a769988ee 362 }
brunofgc 32:7cf1fb8a8bf3 363 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 364
brunofgc 0:1c0a769988ee 365 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 366 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 367 }else{
brunofgc 0:1c0a769988ee 368 if(
brunofgc 0:1c0a769988ee 369 modBusMaster1::buffer[2] == (1+((uint16_t)(qtdRegistros/8)))
brunofgc 0:1c0a769988ee 370 ){
brunofgc 0:1c0a769988ee 371 //Bloco de leitura das coils
brunofgc 0:1c0a769988ee 372 for(i=0;i<qtdRegistros;i++){
brunofgc 0:1c0a769988ee 373 var[i] = (
brunofgc 0:1c0a769988ee 374 (modBusMaster1::buffer[(i/8)+3] & ( 0x1 << (i%8) )) >0
brunofgc 0:1c0a769988ee 375 );
brunofgc 0:1c0a769988ee 376 }
brunofgc 0:1c0a769988ee 377 result = 0;
brunofgc 0:1c0a769988ee 378 }else{
brunofgc 0:1c0a769988ee 379 result = 253;
brunofgc 0:1c0a769988ee 380 }
brunofgc 0:1c0a769988ee 381 }
brunofgc 0:1c0a769988ee 382
brunofgc 0:1c0a769988ee 383
brunofgc 0:1c0a769988ee 384 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 385 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 386 return result;
brunofgc 0:1c0a769988ee 387 }
brunofgc 0:1c0a769988ee 388 uint8_t modBusMaster1::readRegister32BIT(uint8_t enderecoSlave,uint8_t funcao,uint16_t registrador,uint16_t qtdRegistros,uint32_t *var){
brunofgc 0:1c0a769988ee 389 union{
brunofgc 0:1c0a769988ee 390 char c[4];
brunofgc 0:1c0a769988ee 391 uint32_t v;
brunofgc 0:1c0a769988ee 392 }u;
brunofgc 0:1c0a769988ee 393 uint16_t crc;
brunofgc 0:1c0a769988ee 394 uint16_t qtd_dados_recebidos;
brunofgc 0:1c0a769988ee 395 uint16_t i;
brunofgc 0:1c0a769988ee 396 uint8_t result;
brunofgc 0:1c0a769988ee 397
brunofgc 18:1eefda1f7736 398 for(i=0;i<qtdRegistros;i++){
brunofgc 18:1eefda1f7736 399 var[i]=NULL;
brunofgc 18:1eefda1f7736 400 }
brunofgc 32:7cf1fb8a8bf3 401
brunofgc 32:7cf1fb8a8bf3 402 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 403 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 404 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 405 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 406 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 407
brunofgc 32:7cf1fb8a8bf3 408 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 409 modBusMaster1::buffer[1]=funcao;
brunofgc 32:7cf1fb8a8bf3 410 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 411 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 412 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 413 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 414
brunofgc 32:7cf1fb8a8bf3 415 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 416
brunofgc 32:7cf1fb8a8bf3 417 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 418 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 0:1c0a769988ee 419
brunofgc 32:7cf1fb8a8bf3 420 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 421 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 422 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 423 retentativas--;
brunofgc 32:7cf1fb8a8bf3 424 if(debug){
brunofgc 32:7cf1fb8a8bf3 425 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 426 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 427 }
brunofgc 32:7cf1fb8a8bf3 428 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 429 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 430 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 431 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 432 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 433 return 254;
brunofgc 32:7cf1fb8a8bf3 434 }
brunofgc 32:7cf1fb8a8bf3 435 }else{
brunofgc 32:7cf1fb8a8bf3 436 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 437 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 438 }
brunofgc 0:1c0a769988ee 439 }
brunofgc 32:7cf1fb8a8bf3 440 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 441 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 442 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 443 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 444 return 255;
brunofgc 0:1c0a769988ee 445 }
brunofgc 32:7cf1fb8a8bf3 446 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 447
brunofgc 0:1c0a769988ee 448 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 449 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 450 }else{
brunofgc 0:1c0a769988ee 451
brunofgc 0:1c0a769988ee 452 qtd_dados_recebidos = modBusMaster1::buffer[2]/4;
brunofgc 0:1c0a769988ee 453 for(i=0;i<qtd_dados_recebidos;i++){
brunofgc 0:1c0a769988ee 454 u.c[3]=modBusMaster1::buffer[(i*4)+3];
brunofgc 0:1c0a769988ee 455 u.c[2]=modBusMaster1::buffer[(i*4)+4];
brunofgc 0:1c0a769988ee 456 u.c[1]=modBusMaster1::buffer[(i*4)+5];
brunofgc 0:1c0a769988ee 457 u.c[0]=modBusMaster1::buffer[(i*4)+6];
brunofgc 0:1c0a769988ee 458 var[i]=u.v;
brunofgc 0:1c0a769988ee 459 }
brunofgc 0:1c0a769988ee 460 result =0;
brunofgc 0:1c0a769988ee 461 }
brunofgc 0:1c0a769988ee 462
brunofgc 0:1c0a769988ee 463 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 464 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 465 return result;
brunofgc 0:1c0a769988ee 466 }
brunofgc 0:1c0a769988ee 467
brunofgc 0:1c0a769988ee 468 uint8_t modBusMaster1::writeRegister16BIT(uint8_t enderecoSlave,uint16_t registrador,uint16_t qtdRegistros,uint16_t *var){
brunofgc 0:1c0a769988ee 469 uint16_t i;
brunofgc 0:1c0a769988ee 470 uint16_t crc;
brunofgc 0:1c0a769988ee 471 uint8_t result;
brunofgc 32:7cf1fb8a8bf3 472
brunofgc 32:7cf1fb8a8bf3 473 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 474 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 475 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 476 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 477 //------------Bloco de construcao de frame request----------
brunofgc 0:1c0a769988ee 478
brunofgc 32:7cf1fb8a8bf3 479 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 480 modBusMaster1::buffer[1]=16;
brunofgc 32:7cf1fb8a8bf3 481 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 482 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 483 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 484 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 485 modBusMaster1::buffer[6]=qtdRegistros*2;
brunofgc 32:7cf1fb8a8bf3 486
brunofgc 32:7cf1fb8a8bf3 487 for(i=0;i<qtdRegistros;i++){
brunofgc 32:7cf1fb8a8bf3 488 modBusMaster1::buffer[(i*2)+7]=var[i]>>8;
brunofgc 32:7cf1fb8a8bf3 489 modBusMaster1::buffer[(i*2)+8]=var[i]&0xFF;
brunofgc 32:7cf1fb8a8bf3 490 }
brunofgc 32:7cf1fb8a8bf3 491
brunofgc 32:7cf1fb8a8bf3 492 crc=modBusMaster1::CRC16(modBusMaster1::buffer,((qtdRegistros)*2)+7);
brunofgc 32:7cf1fb8a8bf3 493
brunofgc 32:7cf1fb8a8bf3 494 modBusMaster1::buffer[(qtdRegistros*2)+7]=crc>>8;;
brunofgc 32:7cf1fb8a8bf3 495 modBusMaster1::buffer[(qtdRegistros*2)+8]=(crc & 0xFF);
brunofgc 32:7cf1fb8a8bf3 496
brunofgc 32:7cf1fb8a8bf3 497 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 498 if(!modBusMaster1::sendFrame((qtdRegistros*2)+9)){
brunofgc 32:7cf1fb8a8bf3 499 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 500 retentativas--;
brunofgc 32:7cf1fb8a8bf3 501 if(debug){
brunofgc 32:7cf1fb8a8bf3 502 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 503 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 504 }
brunofgc 32:7cf1fb8a8bf3 505 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 506 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 507 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 508 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 509 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 510 return 254;
brunofgc 32:7cf1fb8a8bf3 511 }
brunofgc 32:7cf1fb8a8bf3 512 }else{
brunofgc 32:7cf1fb8a8bf3 513 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 514 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 515 }
brunofgc 0:1c0a769988ee 516 }
brunofgc 32:7cf1fb8a8bf3 517 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 518 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 519 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 520 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 521 return 255;
brunofgc 0:1c0a769988ee 522 }
brunofgc 32:7cf1fb8a8bf3 523 //-----------------Bloco de tentativas---------------------
brunofgc 0:1c0a769988ee 524
brunofgc 0:1c0a769988ee 525 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 526 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 527
brunofgc 0:1c0a769988ee 528 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 529 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 530 }else{
brunofgc 0:1c0a769988ee 531
brunofgc 0:1c0a769988ee 532 //Interpratando resposta
brunofgc 0:1c0a769988ee 533 if(((modBusMaster1::buffer[4]<<8)+(modBusMaster1::buffer[5]))!=qtdRegistros){
brunofgc 0:1c0a769988ee 534 return 253;
brunofgc 0:1c0a769988ee 535 }else{
brunofgc 0:1c0a769988ee 536 result = 0;
brunofgc 0:1c0a769988ee 537 }
brunofgc 0:1c0a769988ee 538 }
brunofgc 0:1c0a769988ee 539 return result;
brunofgc 0:1c0a769988ee 540 }
brunofgc 0:1c0a769988ee 541
brunofgc 0:1c0a769988ee 542 uint8_t modBusMaster1::writeRegister32BIT(uint8_t enderecoSlave,uint16_t registrador,uint16_t qtdRegistros,uint32_t *var){
brunofgc 0:1c0a769988ee 543 uint16_t i;
brunofgc 0:1c0a769988ee 544 uint16_t crc;
brunofgc 0:1c0a769988ee 545 uint8_t result;
brunofgc 0:1c0a769988ee 546
brunofgc 32:7cf1fb8a8bf3 547 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 548 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 549 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 550 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 551 //------------Bloco de construcao de frame request----------
brunofgc 0:1c0a769988ee 552
brunofgc 32:7cf1fb8a8bf3 553 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 554 modBusMaster1::buffer[1]=16;
brunofgc 32:7cf1fb8a8bf3 555 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 556 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 557 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 558 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 559 modBusMaster1::buffer[6]=qtdRegistros*4;
brunofgc 32:7cf1fb8a8bf3 560
brunofgc 32:7cf1fb8a8bf3 561 for(i=0;i<qtdRegistros;i++){
brunofgc 32:7cf1fb8a8bf3 562 modBusMaster1::buffer[(i*4)+7]=(var[i]>>24)&0xFF;
brunofgc 32:7cf1fb8a8bf3 563 modBusMaster1::buffer[(i*4)+8]=(var[i]>>16)&0xFF;
brunofgc 32:7cf1fb8a8bf3 564 modBusMaster1::buffer[(i*4)+9]=(var[i]>>8)&0xFF;
brunofgc 32:7cf1fb8a8bf3 565 modBusMaster1::buffer[(i*4)+10]=var[i]&0xFF;
brunofgc 32:7cf1fb8a8bf3 566 }
brunofgc 32:7cf1fb8a8bf3 567
brunofgc 32:7cf1fb8a8bf3 568 crc=modBusMaster1::CRC16(modBusMaster1::buffer,((qtdRegistros)*4)+7);
brunofgc 32:7cf1fb8a8bf3 569
brunofgc 32:7cf1fb8a8bf3 570 modBusMaster1::buffer[(qtdRegistros*4)+7]=crc>>8;;
brunofgc 32:7cf1fb8a8bf3 571 modBusMaster1::buffer[(qtdRegistros*4)+8]=(crc & 0xFF);
brunofgc 0:1c0a769988ee 572
brunofgc 32:7cf1fb8a8bf3 573 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 574 if(!modBusMaster1::sendFrame((qtdRegistros*4)+9)){
brunofgc 32:7cf1fb8a8bf3 575 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 576 retentativas--;
brunofgc 32:7cf1fb8a8bf3 577 if(debug){
brunofgc 32:7cf1fb8a8bf3 578 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 579 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 580 }
brunofgc 32:7cf1fb8a8bf3 581 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 582 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 583 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 584 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 585 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 586 return 254;
brunofgc 32:7cf1fb8a8bf3 587 }
brunofgc 32:7cf1fb8a8bf3 588 }else{
brunofgc 32:7cf1fb8a8bf3 589 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 590 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 591 }
brunofgc 0:1c0a769988ee 592 }
brunofgc 32:7cf1fb8a8bf3 593 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 594 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 595 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 596 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 597 return 255;
brunofgc 0:1c0a769988ee 598 }
brunofgc 32:7cf1fb8a8bf3 599 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 600
brunofgc 0:1c0a769988ee 601
brunofgc 0:1c0a769988ee 602 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 603 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 604
brunofgc 0:1c0a769988ee 605 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 606 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 607 }else{
brunofgc 0:1c0a769988ee 608
brunofgc 0:1c0a769988ee 609 //Interpratando resposta
brunofgc 0:1c0a769988ee 610 if(((modBusMaster1::buffer[4]<<8)+(modBusMaster1::buffer[5]))!=qtdRegistros){
brunofgc 0:1c0a769988ee 611 return 253;
brunofgc 0:1c0a769988ee 612 }else{
brunofgc 0:1c0a769988ee 613 result = 0;
brunofgc 0:1c0a769988ee 614 }
brunofgc 0:1c0a769988ee 615 }
brunofgc 0:1c0a769988ee 616 return result;
brunofgc 0:1c0a769988ee 617 }
brunofgc 0:1c0a769988ee 618
brunofgc 0:1c0a769988ee 619 uint8_t modBusMaster1::writeFloat(uint8_t enderecoSlave,uint16_t registrador,uint8_t qtdRegistros,float *var){
brunofgc 0:1c0a769988ee 620 union{
brunofgc 0:1c0a769988ee 621 char c[4];
brunofgc 0:1c0a769988ee 622 float v;
brunofgc 0:1c0a769988ee 623 }u;
brunofgc 0:1c0a769988ee 624 uint16_t i;
brunofgc 0:1c0a769988ee 625 uint16_t crc;
brunofgc 0:1c0a769988ee 626 uint8_t result;
brunofgc 32:7cf1fb8a8bf3 627 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 628 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 629 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 630 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 631 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 632
brunofgc 32:7cf1fb8a8bf3 633 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 634 modBusMaster1::buffer[1]=16;
brunofgc 32:7cf1fb8a8bf3 635 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 636 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 637 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 638 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 639 modBusMaster1::buffer[6]=qtdRegistros*4;
brunofgc 32:7cf1fb8a8bf3 640
brunofgc 32:7cf1fb8a8bf3 641 for(i=0;i<qtdRegistros;i++){
brunofgc 32:7cf1fb8a8bf3 642 u.v = var[i];
brunofgc 32:7cf1fb8a8bf3 643 modBusMaster1::buffer[(i*4)+7]=u.c[3];
brunofgc 32:7cf1fb8a8bf3 644 modBusMaster1::buffer[(i*4)+8]=u.c[2];
brunofgc 32:7cf1fb8a8bf3 645 modBusMaster1::buffer[(i*4)+9]=u.c[1];
brunofgc 32:7cf1fb8a8bf3 646 modBusMaster1::buffer[(i*4)+10]=u.c[0];
brunofgc 32:7cf1fb8a8bf3 647 }
brunofgc 32:7cf1fb8a8bf3 648
brunofgc 32:7cf1fb8a8bf3 649 crc=modBusMaster1::CRC16(modBusMaster1::buffer,((qtdRegistros)*4)+7);
brunofgc 32:7cf1fb8a8bf3 650
brunofgc 32:7cf1fb8a8bf3 651 modBusMaster1::buffer[(qtdRegistros*4)+7]=crc>>8;;
brunofgc 32:7cf1fb8a8bf3 652 modBusMaster1::buffer[(qtdRegistros*4)+8]=(crc & 0xFF);
brunofgc 32:7cf1fb8a8bf3 653
brunofgc 32:7cf1fb8a8bf3 654 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 655 if(!modBusMaster1::sendFrame((qtdRegistros*4)+9)){
brunofgc 32:7cf1fb8a8bf3 656 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 657 retentativas--;
brunofgc 32:7cf1fb8a8bf3 658 if(debug){
brunofgc 32:7cf1fb8a8bf3 659 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 660 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 661 }
brunofgc 32:7cf1fb8a8bf3 662 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 663 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 664 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 665 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 666 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 667 return 254;
brunofgc 32:7cf1fb8a8bf3 668 }
brunofgc 32:7cf1fb8a8bf3 669 }else{
brunofgc 32:7cf1fb8a8bf3 670 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 671 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 672 }
brunofgc 0:1c0a769988ee 673 }
brunofgc 32:7cf1fb8a8bf3 674 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 675 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 676 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 677 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 678 return 255;
brunofgc 0:1c0a769988ee 679 }
brunofgc 32:7cf1fb8a8bf3 680 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 681
brunofgc 0:1c0a769988ee 682
brunofgc 0:1c0a769988ee 683 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 684 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 685
brunofgc 0:1c0a769988ee 686 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 687 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 688 }else{
brunofgc 0:1c0a769988ee 689 //Interpratando resposta
brunofgc 0:1c0a769988ee 690 if(((modBusMaster1::buffer[4]<<8)+(modBusMaster1::buffer[5]))!=qtdRegistros){
brunofgc 0:1c0a769988ee 691 return 253;
brunofgc 0:1c0a769988ee 692 }else{
brunofgc 0:1c0a769988ee 693 result = 0;
brunofgc 0:1c0a769988ee 694 }
brunofgc 0:1c0a769988ee 695 }
brunofgc 0:1c0a769988ee 696 return result;
brunofgc 0:1c0a769988ee 697 }
brunofgc 0:1c0a769988ee 698
brunofgc 0:1c0a769988ee 699 uint8_t modBusMaster1::readFloat(uint8_t enderecoSlave,uint8_t funcao,uint16_t registrador,uint16_t qtdRegistros,float *var){
brunofgc 0:1c0a769988ee 700 union {
brunofgc 0:1c0a769988ee 701 char c[4];
brunofgc 0:1c0a769988ee 702 float v;
brunofgc 0:1c0a769988ee 703 }u;
brunofgc 0:1c0a769988ee 704 uint16_t crc;
brunofgc 0:1c0a769988ee 705 uint16_t qtd_dados_recebidos;
brunofgc 0:1c0a769988ee 706 //void *p;
brunofgc 0:1c0a769988ee 707 uint16_t i;
brunofgc 18:1eefda1f7736 708 uint8_t result;
brunofgc 18:1eefda1f7736 709
brunofgc 18:1eefda1f7736 710 for(i=0;i<qtdRegistros;i++){
brunofgc 18:1eefda1f7736 711 var[i]=0.0;
brunofgc 18:1eefda1f7736 712 }
brunofgc 32:7cf1fb8a8bf3 713
brunofgc 32:7cf1fb8a8bf3 714 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 715 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 716 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 717 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 718 //------------Bloco de construcao de frame request----------
brunofgc 18:1eefda1f7736 719
brunofgc 32:7cf1fb8a8bf3 720 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 721 modBusMaster1::buffer[1]=funcao;
brunofgc 32:7cf1fb8a8bf3 722 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 723 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 724 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 725 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 726
brunofgc 32:7cf1fb8a8bf3 727 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 728
brunofgc 32:7cf1fb8a8bf3 729 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 730 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 0:1c0a769988ee 731
brunofgc 32:7cf1fb8a8bf3 732 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 733 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 734 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 735 retentativas--;
brunofgc 32:7cf1fb8a8bf3 736 if(debug){
brunofgc 32:7cf1fb8a8bf3 737 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 738 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 739 }
brunofgc 32:7cf1fb8a8bf3 740 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 741 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 742 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 743 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 744 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 745 return 254;
brunofgc 32:7cf1fb8a8bf3 746 }
brunofgc 32:7cf1fb8a8bf3 747 }else{
brunofgc 32:7cf1fb8a8bf3 748 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 749 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 750 }
brunofgc 0:1c0a769988ee 751 }
brunofgc 32:7cf1fb8a8bf3 752 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 753 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 754 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 755 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 756 return 255;
brunofgc 0:1c0a769988ee 757 }
brunofgc 32:7cf1fb8a8bf3 758 //-----------------Bloco de tentativas---------------------
brunofgc 0:1c0a769988ee 759
brunofgc 0:1c0a769988ee 760 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 761 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 762 }else{
brunofgc 0:1c0a769988ee 763 qtd_dados_recebidos = modBusMaster1::buffer[2]/4;
brunofgc 0:1c0a769988ee 764 for(i=0;i<qtd_dados_recebidos;i++){
brunofgc 0:1c0a769988ee 765 u.c[3]=modBusMaster1::buffer[(i*4)+3];
brunofgc 0:1c0a769988ee 766 u.c[2]=modBusMaster1::buffer[(i*4)+4];
brunofgc 0:1c0a769988ee 767 u.c[1]=modBusMaster1::buffer[(i*4)+5];
brunofgc 0:1c0a769988ee 768 u.c[0]=modBusMaster1::buffer[(i*4)+6];
brunofgc 0:1c0a769988ee 769 var[i]=u.v;
brunofgc 0:1c0a769988ee 770 }
brunofgc 0:1c0a769988ee 771 result = 0;
brunofgc 0:1c0a769988ee 772 }
brunofgc 0:1c0a769988ee 773 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 774 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 775 return result;
brunofgc 0:1c0a769988ee 776 }