Bruno Cavalcanti / Mbed 2 deprecated brunoDrome

teste de publish

Dependencies:   DS1820 HighSpeedAnalogIn devices mbed

modbusMaster1.cpp@26:c246eacf6815, 2018-04-19 (annotated)

Committer:
brunofgc
Date:
Thu Apr 19 15:44:42 2018 +0000
Revision:
26:c246eacf6815
Parent:
25:a6da63ed025b
Child:
32:7cf1fb8a8bf3
Vers?o com modbus otimizado e retentativas. 19/04/2018;

Who changed what in which revision?

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