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Dependencies:   DS1820 HighSpeedAnalogIn devices mbed

modbusMaster1.cpp@32:7cf1fb8a8bf3, 2018-05-26 (annotated)

Committer:
brunofgc
Date:
Sat May 26 14:17:55 2018 +0000
Revision:
32:7cf1fb8a8bf3
Parent:
26:c246eacf6815
Child:
37:0e95c85f0160
Esta revis?o ja conta com Dispositivo ?nico, maquina de modbus concertada com retentativas, erro de reset concertado, alarmes-schedules-exceptions-reads em area de memoria extendida.; ; Faltando reposicionar config.bin e devices.cfg para FLASH ROM

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 0:1c0a769988ee 122 uint16_t i;
brunofgc 26:c246eacf6815 123
brunofgc 32:7cf1fb8a8bf3 124 if(debug){
brunofgc 32:7cf1fb8a8bf3 125 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 126 pc.printf("Frame enviado (hexa) <");
brunofgc 25:a6da63ed025b 127 for(i=0;i<tamBytes;i++){
brunofgc 32:7cf1fb8a8bf3 128 pc.printf("%02x ",modBusMaster1::buffer[i]);
brunofgc 25:a6da63ed025b 129 }
brunofgc 32:7cf1fb8a8bf3 130 pc.printf(">.\n");
brunofgc 25:a6da63ed025b 131 }
brunofgc 32:7cf1fb8a8bf3 132
brunofgc 32:7cf1fb8a8bf3 133 //osDelay(5);
brunofgc 32:7cf1fb8a8bf3 134
brunofgc 32:7cf1fb8a8bf3 135 modBusMaster1::pacoteEmEspera = false;
brunofgc 32:7cf1fb8a8bf3 136 modBusMaster1::index=0;
brunofgc 32:7cf1fb8a8bf3 137 *modBusMaster1::de=1;
brunofgc 32:7cf1fb8a8bf3 138 //wait_us(1750);
brunofgc 32:7cf1fb8a8bf3 139 osDelay(1);
brunofgc 32:7cf1fb8a8bf3 140 for(i=0;i<tamBytes;i++){
brunofgc 32:7cf1fb8a8bf3 141 modBusMaster1::serModBus->putc(modBusMaster1::buffer[i]);
brunofgc 32:7cf1fb8a8bf3 142 //wait_us(750);
brunofgc 32:7cf1fb8a8bf3 143 while(
brunofgc 32:7cf1fb8a8bf3 144 ((LPC_UART1->LSR >> 6) &0x1)
brunofgc 32:7cf1fb8a8bf3 145 == 0 );
brunofgc 32:7cf1fb8a8bf3 146 //wait_us(modBusMaster1::T1_5);
brunofgc 32:7cf1fb8a8bf3 147 }
brunofgc 32:7cf1fb8a8bf3 148 //wait_us(1750);
brunofgc 32:7cf1fb8a8bf3 149 //osDelay(1);
brunofgc 32:7cf1fb8a8bf3 150 *modBusMaster1::de=0;
brunofgc 32:7cf1fb8a8bf3 151
brunofgc 32:7cf1fb8a8bf3 152 while((timeout>0)&&(modBusMaster1::pacoteEmEspera!=true)){
brunofgc 32:7cf1fb8a8bf3 153 osDelay(1);
brunofgc 32:7cf1fb8a8bf3 154 //wait_us(1000);
brunofgc 32:7cf1fb8a8bf3 155 timeout--;
brunofgc 32:7cf1fb8a8bf3 156 }
brunofgc 32:7cf1fb8a8bf3 157 wait_us(modBusMaster1::T3_5*2);
brunofgc 0:1c0a769988ee 158 return timeout;
brunofgc 0:1c0a769988ee 159 }
brunofgc 0:1c0a769988ee 160
brunofgc 0:1c0a769988ee 161 uint8_t modBusMaster1::readRegister16BIT(uint8_t enderecoSlave,uint8_t funcao,uint16_t registrador,uint16_t qtdRegistros,uint16_t *var){
brunofgc 0:1c0a769988ee 162 union{
brunofgc 0:1c0a769988ee 163 char c[2];
brunofgc 0:1c0a769988ee 164 uint16_t v;
brunofgc 0:1c0a769988ee 165 }u;
brunofgc 0:1c0a769988ee 166 uint16_t crc;
brunofgc 0:1c0a769988ee 167 uint16_t qtd_dados_recebidos;
brunofgc 0:1c0a769988ee 168 uint16_t i;
brunofgc 0:1c0a769988ee 169 uint8_t result;
brunofgc 0:1c0a769988ee 170
brunofgc 18:1eefda1f7736 171 for(i=0;i<qtdRegistros;i++){
brunofgc 18:1eefda1f7736 172 var[i]=NULL;
brunofgc 18:1eefda1f7736 173 }
brunofgc 32:7cf1fb8a8bf3 174
brunofgc 32:7cf1fb8a8bf3 175 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 176 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 177 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 178 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 179 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 180 modBusMaster1::buffer[1]=funcao;
brunofgc 32:7cf1fb8a8bf3 181 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 182 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 183 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 184 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 185
brunofgc 32:7cf1fb8a8bf3 186 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 187
brunofgc 32:7cf1fb8a8bf3 188 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 189 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 32:7cf1fb8a8bf3 190
brunofgc 32:7cf1fb8a8bf3 191 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 192 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 193 retentativas--;
brunofgc 32:7cf1fb8a8bf3 194 if(debug){
brunofgc 32:7cf1fb8a8bf3 195 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 196 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 197 }
brunofgc 32:7cf1fb8a8bf3 198 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 199 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 200 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 201 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 202 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 203 return 254;
brunofgc 32:7cf1fb8a8bf3 204 }
brunofgc 32:7cf1fb8a8bf3 205 }else{
brunofgc 32:7cf1fb8a8bf3 206 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 207 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 208 }
brunofgc 0:1c0a769988ee 209 }
brunofgc 32:7cf1fb8a8bf3 210 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 211 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 212 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 213 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 214 return 255;
brunofgc 0:1c0a769988ee 215 }
brunofgc 32:7cf1fb8a8bf3 216 //-----------------Bloco de tentativas---------------------
brunofgc 0:1c0a769988ee 217
brunofgc 0:1c0a769988ee 218 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 219 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 220 }else{
brunofgc 0:1c0a769988ee 221 qtd_dados_recebidos = modBusMaster1::buffer[2]/2;
brunofgc 0:1c0a769988ee 222 for(i=0;i<qtd_dados_recebidos;i++){
brunofgc 0:1c0a769988ee 223 u.c[1]=modBusMaster1::buffer[(i*2)+3];
brunofgc 0:1c0a769988ee 224 u.c[0]=modBusMaster1::buffer[(i*2)+4];
brunofgc 0:1c0a769988ee 225 var[i]=u.v;
brunofgc 0:1c0a769988ee 226 }
brunofgc 0:1c0a769988ee 227 result = 0;
brunofgc 0:1c0a769988ee 228 }
brunofgc 0:1c0a769988ee 229
brunofgc 0:1c0a769988ee 230
brunofgc 0:1c0a769988ee 231
brunofgc 0:1c0a769988ee 232 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 233 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 234 return result;
brunofgc 0:1c0a769988ee 235 }
brunofgc 0:1c0a769988ee 236
brunofgc 0:1c0a769988ee 237 uint8_t modBusMaster1::writeSingleCoil(uint8_t enderecoSlave,uint16_t registrador,bool var){
brunofgc 0:1c0a769988ee 238 uint16_t crc;
brunofgc 18:1eefda1f7736 239 uint16_t estadoSetado;
brunofgc 32:7cf1fb8a8bf3 240 uint8_t result = 0;
brunofgc 32:7cf1fb8a8bf3 241 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 242 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 243 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 244 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 245 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 246 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 247 modBusMaster1::buffer[1]=5;
brunofgc 32:7cf1fb8a8bf3 248 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 249 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 250
brunofgc 32:7cf1fb8a8bf3 251 if(var){
brunofgc 32:7cf1fb8a8bf3 252 modBusMaster1::buffer[4]=0xFF;
brunofgc 32:7cf1fb8a8bf3 253 modBusMaster1::buffer[5]=0x00;
brunofgc 32:7cf1fb8a8bf3 254 estadoSetado = 0xFF00;
brunofgc 32:7cf1fb8a8bf3 255
brunofgc 32:7cf1fb8a8bf3 256 }else{
brunofgc 32:7cf1fb8a8bf3 257 modBusMaster1::buffer[4]=0x00;
brunofgc 32:7cf1fb8a8bf3 258 modBusMaster1::buffer[5]=0x00;
brunofgc 32:7cf1fb8a8bf3 259 estadoSetado = 0x0000;
brunofgc 32:7cf1fb8a8bf3 260 }
brunofgc 32:7cf1fb8a8bf3 261
brunofgc 32:7cf1fb8a8bf3 262
brunofgc 32:7cf1fb8a8bf3 263 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 264
brunofgc 32:7cf1fb8a8bf3 265 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 266 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 32:7cf1fb8a8bf3 267 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 268 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 269 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 270 retentativas--;
brunofgc 32:7cf1fb8a8bf3 271 if(debug){
brunofgc 32:7cf1fb8a8bf3 272 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 273 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 274 }
brunofgc 32:7cf1fb8a8bf3 275 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 276 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 277 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 278 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 279 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 280 return 254;
brunofgc 32:7cf1fb8a8bf3 281 }
brunofgc 32:7cf1fb8a8bf3 282 }else{
brunofgc 32:7cf1fb8a8bf3 283 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 284 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 285 }
brunofgc 32:7cf1fb8a8bf3 286 }
brunofgc 32:7cf1fb8a8bf3 287 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 32:7cf1fb8a8bf3 288 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 289 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 290 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 291 return 255;
brunofgc 32:7cf1fb8a8bf3 292 }
brunofgc 32:7cf1fb8a8bf3 293 //-----------------Bloco de tentativas---------------------
brunofgc 0:1c0a769988ee 294
brunofgc 32:7cf1fb8a8bf3 295
brunofgc 32:7cf1fb8a8bf3 296 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 32:7cf1fb8a8bf3 297 result = modBusMaster1::buffer[2];
brunofgc 32:7cf1fb8a8bf3 298 }else{
brunofgc 32:7cf1fb8a8bf3 299 if(
brunofgc 32:7cf1fb8a8bf3 300 (((modBusMaster1::buffer[2]<<8)+(modBusMaster1::buffer[3]))==registrador)
brunofgc 32:7cf1fb8a8bf3 301 &&
brunofgc 32:7cf1fb8a8bf3 302 (((modBusMaster1::buffer[4]<<8)+(modBusMaster1::buffer[5]))==estadoSetado)
brunofgc 32:7cf1fb8a8bf3 303 ){
brunofgc 32:7cf1fb8a8bf3 304 result=0;
brunofgc 32:7cf1fb8a8bf3 305 }else{
brunofgc 32:7cf1fb8a8bf3 306 result=253;
brunofgc 32:7cf1fb8a8bf3 307 }
brunofgc 32:7cf1fb8a8bf3 308 }
brunofgc 0:1c0a769988ee 309 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 310 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 311 return result;
brunofgc 0:1c0a769988ee 312 }
brunofgc 0:1c0a769988ee 313
brunofgc 0:1c0a769988ee 314 uint8_t modBusMaster1::readCoils(uint8_t enderecoSlave,uint16_t registrador,uint16_t qtdRegistros,bool *var){
brunofgc 0:1c0a769988ee 315 uint16_t crc;
brunofgc 0:1c0a769988ee 316 uint8_t result;
brunofgc 0:1c0a769988ee 317 uint16_t i;
brunofgc 32:7cf1fb8a8bf3 318 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 319 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 320 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 321 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 322 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 323
brunofgc 32:7cf1fb8a8bf3 324 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 325 modBusMaster1::buffer[1]=1;
brunofgc 32:7cf1fb8a8bf3 326 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 327 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 328 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 329 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 330
brunofgc 32:7cf1fb8a8bf3 331 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 332
brunofgc 32:7cf1fb8a8bf3 333 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 334 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 0:1c0a769988ee 335
brunofgc 32:7cf1fb8a8bf3 336 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 337 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 338 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 339 retentativas--;
brunofgc 32:7cf1fb8a8bf3 340 if(debug){
brunofgc 32:7cf1fb8a8bf3 341 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 342 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 343 }
brunofgc 32:7cf1fb8a8bf3 344 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 345 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 346 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 347 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 348 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 349 return 254;
brunofgc 32:7cf1fb8a8bf3 350 }
brunofgc 32:7cf1fb8a8bf3 351 }else{
brunofgc 32:7cf1fb8a8bf3 352 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 353 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 354 }
brunofgc 0:1c0a769988ee 355 }
brunofgc 32:7cf1fb8a8bf3 356 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 357 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 358 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 359 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 360 return 255;
brunofgc 0:1c0a769988ee 361 }
brunofgc 32:7cf1fb8a8bf3 362 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 363
brunofgc 0:1c0a769988ee 364 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 365 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 366 }else{
brunofgc 0:1c0a769988ee 367 if(
brunofgc 0:1c0a769988ee 368 modBusMaster1::buffer[2] == (1+((uint16_t)(qtdRegistros/8)))
brunofgc 0:1c0a769988ee 369 ){
brunofgc 0:1c0a769988ee 370 //Bloco de leitura das coils
brunofgc 0:1c0a769988ee 371 for(i=0;i<qtdRegistros;i++){
brunofgc 0:1c0a769988ee 372 var[i] = (
brunofgc 0:1c0a769988ee 373 (modBusMaster1::buffer[(i/8)+3] & ( 0x1 << (i%8) )) >0
brunofgc 0:1c0a769988ee 374 );
brunofgc 0:1c0a769988ee 375 }
brunofgc 0:1c0a769988ee 376 result = 0;
brunofgc 0:1c0a769988ee 377 }else{
brunofgc 0:1c0a769988ee 378 result = 253;
brunofgc 0:1c0a769988ee 379 }
brunofgc 0:1c0a769988ee 380 }
brunofgc 0:1c0a769988ee 381
brunofgc 0:1c0a769988ee 382
brunofgc 0:1c0a769988ee 383 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 384 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 385 return result;
brunofgc 0:1c0a769988ee 386 }
brunofgc 0:1c0a769988ee 387 uint8_t modBusMaster1::readRegister32BIT(uint8_t enderecoSlave,uint8_t funcao,uint16_t registrador,uint16_t qtdRegistros,uint32_t *var){
brunofgc 0:1c0a769988ee 388 union{
brunofgc 0:1c0a769988ee 389 char c[4];
brunofgc 0:1c0a769988ee 390 uint32_t v;
brunofgc 0:1c0a769988ee 391 }u;
brunofgc 0:1c0a769988ee 392 uint16_t crc;
brunofgc 0:1c0a769988ee 393 uint16_t qtd_dados_recebidos;
brunofgc 0:1c0a769988ee 394 uint16_t i;
brunofgc 0:1c0a769988ee 395 uint8_t result;
brunofgc 0:1c0a769988ee 396
brunofgc 18:1eefda1f7736 397 for(i=0;i<qtdRegistros;i++){
brunofgc 18:1eefda1f7736 398 var[i]=NULL;
brunofgc 18:1eefda1f7736 399 }
brunofgc 32:7cf1fb8a8bf3 400
brunofgc 32:7cf1fb8a8bf3 401 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 402 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 403 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 404 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 405 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 406
brunofgc 32:7cf1fb8a8bf3 407 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 408 modBusMaster1::buffer[1]=funcao;
brunofgc 32:7cf1fb8a8bf3 409 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 410 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 411 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 412 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 413
brunofgc 32:7cf1fb8a8bf3 414 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 415
brunofgc 32:7cf1fb8a8bf3 416 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 417 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 0:1c0a769988ee 418
brunofgc 32:7cf1fb8a8bf3 419 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 420 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 421 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 422 retentativas--;
brunofgc 32:7cf1fb8a8bf3 423 if(debug){
brunofgc 32:7cf1fb8a8bf3 424 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 425 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 426 }
brunofgc 32:7cf1fb8a8bf3 427 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 428 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 429 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 430 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 431 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 432 return 254;
brunofgc 32:7cf1fb8a8bf3 433 }
brunofgc 32:7cf1fb8a8bf3 434 }else{
brunofgc 32:7cf1fb8a8bf3 435 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 436 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 437 }
brunofgc 0:1c0a769988ee 438 }
brunofgc 32:7cf1fb8a8bf3 439 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 440 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 441 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 442 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 443 return 255;
brunofgc 0:1c0a769988ee 444 }
brunofgc 32:7cf1fb8a8bf3 445 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 446
brunofgc 0:1c0a769988ee 447 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 448 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 449 }else{
brunofgc 0:1c0a769988ee 450
brunofgc 0:1c0a769988ee 451 qtd_dados_recebidos = modBusMaster1::buffer[2]/4;
brunofgc 0:1c0a769988ee 452 for(i=0;i<qtd_dados_recebidos;i++){
brunofgc 0:1c0a769988ee 453 u.c[3]=modBusMaster1::buffer[(i*4)+3];
brunofgc 0:1c0a769988ee 454 u.c[2]=modBusMaster1::buffer[(i*4)+4];
brunofgc 0:1c0a769988ee 455 u.c[1]=modBusMaster1::buffer[(i*4)+5];
brunofgc 0:1c0a769988ee 456 u.c[0]=modBusMaster1::buffer[(i*4)+6];
brunofgc 0:1c0a769988ee 457 var[i]=u.v;
brunofgc 0:1c0a769988ee 458 }
brunofgc 0:1c0a769988ee 459 result =0;
brunofgc 0:1c0a769988ee 460 }
brunofgc 0:1c0a769988ee 461
brunofgc 0:1c0a769988ee 462 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 463 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 464 return result;
brunofgc 0:1c0a769988ee 465 }
brunofgc 0:1c0a769988ee 466
brunofgc 0:1c0a769988ee 467 uint8_t modBusMaster1::writeRegister16BIT(uint8_t enderecoSlave,uint16_t registrador,uint16_t qtdRegistros,uint16_t *var){
brunofgc 0:1c0a769988ee 468 uint16_t i;
brunofgc 0:1c0a769988ee 469 uint16_t crc;
brunofgc 0:1c0a769988ee 470 uint8_t result;
brunofgc 32:7cf1fb8a8bf3 471
brunofgc 32:7cf1fb8a8bf3 472 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 473 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 474 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 475 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 476 //------------Bloco de construcao de frame request----------
brunofgc 0:1c0a769988ee 477
brunofgc 32:7cf1fb8a8bf3 478 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 479 modBusMaster1::buffer[1]=16;
brunofgc 32:7cf1fb8a8bf3 480 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 481 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 482 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 483 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 484 modBusMaster1::buffer[6]=qtdRegistros*2;
brunofgc 32:7cf1fb8a8bf3 485
brunofgc 32:7cf1fb8a8bf3 486 for(i=0;i<qtdRegistros;i++){
brunofgc 32:7cf1fb8a8bf3 487 modBusMaster1::buffer[(i*2)+7]=var[i]>>8;
brunofgc 32:7cf1fb8a8bf3 488 modBusMaster1::buffer[(i*2)+8]=var[i]&0xFF;
brunofgc 32:7cf1fb8a8bf3 489 }
brunofgc 32:7cf1fb8a8bf3 490
brunofgc 32:7cf1fb8a8bf3 491 crc=modBusMaster1::CRC16(modBusMaster1::buffer,((qtdRegistros)*2)+7);
brunofgc 32:7cf1fb8a8bf3 492
brunofgc 32:7cf1fb8a8bf3 493 modBusMaster1::buffer[(qtdRegistros*2)+7]=crc>>8;;
brunofgc 32:7cf1fb8a8bf3 494 modBusMaster1::buffer[(qtdRegistros*2)+8]=(crc & 0xFF);
brunofgc 32:7cf1fb8a8bf3 495
brunofgc 32:7cf1fb8a8bf3 496 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 497 if(!modBusMaster1::sendFrame((qtdRegistros*2)+9)){
brunofgc 32:7cf1fb8a8bf3 498 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 499 retentativas--;
brunofgc 32:7cf1fb8a8bf3 500 if(debug){
brunofgc 32:7cf1fb8a8bf3 501 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 502 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 503 }
brunofgc 32:7cf1fb8a8bf3 504 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 505 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 506 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 507 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 508 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 509 return 254;
brunofgc 32:7cf1fb8a8bf3 510 }
brunofgc 32:7cf1fb8a8bf3 511 }else{
brunofgc 32:7cf1fb8a8bf3 512 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 513 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 514 }
brunofgc 0:1c0a769988ee 515 }
brunofgc 32:7cf1fb8a8bf3 516 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 517 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 518 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 519 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 520 return 255;
brunofgc 0:1c0a769988ee 521 }
brunofgc 32:7cf1fb8a8bf3 522 //-----------------Bloco de tentativas---------------------
brunofgc 0:1c0a769988ee 523
brunofgc 0:1c0a769988ee 524 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 525 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 526
brunofgc 0:1c0a769988ee 527 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 528 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 529 }else{
brunofgc 0:1c0a769988ee 530
brunofgc 0:1c0a769988ee 531 //Interpratando resposta
brunofgc 0:1c0a769988ee 532 if(((modBusMaster1::buffer[4]<<8)+(modBusMaster1::buffer[5]))!=qtdRegistros){
brunofgc 0:1c0a769988ee 533 return 253;
brunofgc 0:1c0a769988ee 534 }else{
brunofgc 0:1c0a769988ee 535 result = 0;
brunofgc 0:1c0a769988ee 536 }
brunofgc 0:1c0a769988ee 537 }
brunofgc 0:1c0a769988ee 538 return result;
brunofgc 0:1c0a769988ee 539 }
brunofgc 0:1c0a769988ee 540
brunofgc 0:1c0a769988ee 541 uint8_t modBusMaster1::writeRegister32BIT(uint8_t enderecoSlave,uint16_t registrador,uint16_t qtdRegistros,uint32_t *var){
brunofgc 0:1c0a769988ee 542 uint16_t i;
brunofgc 0:1c0a769988ee 543 uint16_t crc;
brunofgc 0:1c0a769988ee 544 uint8_t result;
brunofgc 0:1c0a769988ee 545
brunofgc 32:7cf1fb8a8bf3 546 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 547 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 548 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 549 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 550 //------------Bloco de construcao de frame request----------
brunofgc 0:1c0a769988ee 551
brunofgc 32:7cf1fb8a8bf3 552 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 553 modBusMaster1::buffer[1]=16;
brunofgc 32:7cf1fb8a8bf3 554 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 555 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 556 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 557 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 558 modBusMaster1::buffer[6]=qtdRegistros*4;
brunofgc 32:7cf1fb8a8bf3 559
brunofgc 32:7cf1fb8a8bf3 560 for(i=0;i<qtdRegistros;i++){
brunofgc 32:7cf1fb8a8bf3 561 modBusMaster1::buffer[(i*4)+7]=(var[i]>>24)&0xFF;
brunofgc 32:7cf1fb8a8bf3 562 modBusMaster1::buffer[(i*4)+8]=(var[i]>>16)&0xFF;
brunofgc 32:7cf1fb8a8bf3 563 modBusMaster1::buffer[(i*4)+9]=(var[i]>>8)&0xFF;
brunofgc 32:7cf1fb8a8bf3 564 modBusMaster1::buffer[(i*4)+10]=var[i]&0xFF;
brunofgc 32:7cf1fb8a8bf3 565 }
brunofgc 32:7cf1fb8a8bf3 566
brunofgc 32:7cf1fb8a8bf3 567 crc=modBusMaster1::CRC16(modBusMaster1::buffer,((qtdRegistros)*4)+7);
brunofgc 32:7cf1fb8a8bf3 568
brunofgc 32:7cf1fb8a8bf3 569 modBusMaster1::buffer[(qtdRegistros*4)+7]=crc>>8;;
brunofgc 32:7cf1fb8a8bf3 570 modBusMaster1::buffer[(qtdRegistros*4)+8]=(crc & 0xFF);
brunofgc 0:1c0a769988ee 571
brunofgc 32:7cf1fb8a8bf3 572 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 573 if(!modBusMaster1::sendFrame((qtdRegistros*4)+9)){
brunofgc 32:7cf1fb8a8bf3 574 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 575 retentativas--;
brunofgc 32:7cf1fb8a8bf3 576 if(debug){
brunofgc 32:7cf1fb8a8bf3 577 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 578 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 579 }
brunofgc 32:7cf1fb8a8bf3 580 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 581 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 582 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 583 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 584 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 585 return 254;
brunofgc 32:7cf1fb8a8bf3 586 }
brunofgc 32:7cf1fb8a8bf3 587 }else{
brunofgc 32:7cf1fb8a8bf3 588 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 589 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 590 }
brunofgc 0:1c0a769988ee 591 }
brunofgc 32:7cf1fb8a8bf3 592 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 593 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 594 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 595 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 596 return 255;
brunofgc 0:1c0a769988ee 597 }
brunofgc 32:7cf1fb8a8bf3 598 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 599
brunofgc 0:1c0a769988ee 600
brunofgc 0:1c0a769988ee 601 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 602 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 603
brunofgc 0:1c0a769988ee 604 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 605 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 606 }else{
brunofgc 0:1c0a769988ee 607
brunofgc 0:1c0a769988ee 608 //Interpratando resposta
brunofgc 0:1c0a769988ee 609 if(((modBusMaster1::buffer[4]<<8)+(modBusMaster1::buffer[5]))!=qtdRegistros){
brunofgc 0:1c0a769988ee 610 return 253;
brunofgc 0:1c0a769988ee 611 }else{
brunofgc 0:1c0a769988ee 612 result = 0;
brunofgc 0:1c0a769988ee 613 }
brunofgc 0:1c0a769988ee 614 }
brunofgc 0:1c0a769988ee 615 return result;
brunofgc 0:1c0a769988ee 616 }
brunofgc 0:1c0a769988ee 617
brunofgc 0:1c0a769988ee 618 uint8_t modBusMaster1::writeFloat(uint8_t enderecoSlave,uint16_t registrador,uint8_t qtdRegistros,float *var){
brunofgc 0:1c0a769988ee 619 union{
brunofgc 0:1c0a769988ee 620 char c[4];
brunofgc 0:1c0a769988ee 621 float v;
brunofgc 0:1c0a769988ee 622 }u;
brunofgc 0:1c0a769988ee 623 uint16_t i;
brunofgc 0:1c0a769988ee 624 uint16_t crc;
brunofgc 0:1c0a769988ee 625 uint8_t result;
brunofgc 32:7cf1fb8a8bf3 626 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 627 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 628 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 629 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 630 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 631
brunofgc 32:7cf1fb8a8bf3 632 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 633 modBusMaster1::buffer[1]=16;
brunofgc 32:7cf1fb8a8bf3 634 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 635 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 636 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 637 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 638 modBusMaster1::buffer[6]=qtdRegistros*4;
brunofgc 32:7cf1fb8a8bf3 639
brunofgc 32:7cf1fb8a8bf3 640 for(i=0;i<qtdRegistros;i++){
brunofgc 32:7cf1fb8a8bf3 641 u.v = var[i];
brunofgc 32:7cf1fb8a8bf3 642 modBusMaster1::buffer[(i*4)+7]=u.c[3];
brunofgc 32:7cf1fb8a8bf3 643 modBusMaster1::buffer[(i*4)+8]=u.c[2];
brunofgc 32:7cf1fb8a8bf3 644 modBusMaster1::buffer[(i*4)+9]=u.c[1];
brunofgc 32:7cf1fb8a8bf3 645 modBusMaster1::buffer[(i*4)+10]=u.c[0];
brunofgc 32:7cf1fb8a8bf3 646 }
brunofgc 32:7cf1fb8a8bf3 647
brunofgc 32:7cf1fb8a8bf3 648 crc=modBusMaster1::CRC16(modBusMaster1::buffer,((qtdRegistros)*4)+7);
brunofgc 32:7cf1fb8a8bf3 649
brunofgc 32:7cf1fb8a8bf3 650 modBusMaster1::buffer[(qtdRegistros*4)+7]=crc>>8;;
brunofgc 32:7cf1fb8a8bf3 651 modBusMaster1::buffer[(qtdRegistros*4)+8]=(crc & 0xFF);
brunofgc 32:7cf1fb8a8bf3 652
brunofgc 32:7cf1fb8a8bf3 653 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 654 if(!modBusMaster1::sendFrame((qtdRegistros*4)+9)){
brunofgc 32:7cf1fb8a8bf3 655 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 656 retentativas--;
brunofgc 32:7cf1fb8a8bf3 657 if(debug){
brunofgc 32:7cf1fb8a8bf3 658 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 659 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 660 }
brunofgc 32:7cf1fb8a8bf3 661 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 662 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 663 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 664 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 665 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 666 return 254;
brunofgc 32:7cf1fb8a8bf3 667 }
brunofgc 32:7cf1fb8a8bf3 668 }else{
brunofgc 32:7cf1fb8a8bf3 669 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 670 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 671 }
brunofgc 0:1c0a769988ee 672 }
brunofgc 32:7cf1fb8a8bf3 673 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 674 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 675 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 676 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 677 return 255;
brunofgc 0:1c0a769988ee 678 }
brunofgc 32:7cf1fb8a8bf3 679 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 680
brunofgc 0:1c0a769988ee 681
brunofgc 0:1c0a769988ee 682 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 683 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 684
brunofgc 0:1c0a769988ee 685 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 686 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 687 }else{
brunofgc 0:1c0a769988ee 688 //Interpratando resposta
brunofgc 0:1c0a769988ee 689 if(((modBusMaster1::buffer[4]<<8)+(modBusMaster1::buffer[5]))!=qtdRegistros){
brunofgc 0:1c0a769988ee 690 return 253;
brunofgc 0:1c0a769988ee 691 }else{
brunofgc 0:1c0a769988ee 692 result = 0;
brunofgc 0:1c0a769988ee 693 }
brunofgc 0:1c0a769988ee 694 }
brunofgc 0:1c0a769988ee 695 return result;
brunofgc 0:1c0a769988ee 696 }
brunofgc 0:1c0a769988ee 697
brunofgc 0:1c0a769988ee 698 uint8_t modBusMaster1::readFloat(uint8_t enderecoSlave,uint8_t funcao,uint16_t registrador,uint16_t qtdRegistros,float *var){
brunofgc 0:1c0a769988ee 699 union {
brunofgc 0:1c0a769988ee 700 char c[4];
brunofgc 0:1c0a769988ee 701 float v;
brunofgc 0:1c0a769988ee 702 }u;
brunofgc 0:1c0a769988ee 703 uint16_t crc;
brunofgc 0:1c0a769988ee 704 uint16_t qtd_dados_recebidos;
brunofgc 0:1c0a769988ee 705 //void *p;
brunofgc 0:1c0a769988ee 706 uint16_t i;
brunofgc 18:1eefda1f7736 707 uint8_t result;
brunofgc 18:1eefda1f7736 708
brunofgc 18:1eefda1f7736 709 for(i=0;i<qtdRegistros;i++){
brunofgc 18:1eefda1f7736 710 var[i]=0.0;
brunofgc 18:1eefda1f7736 711 }
brunofgc 32:7cf1fb8a8bf3 712
brunofgc 32:7cf1fb8a8bf3 713 //-----------------Bloco de tentativas---------------------
brunofgc 32:7cf1fb8a8bf3 714 uint16_t retentativas = maxRetentativas+1;
brunofgc 32:7cf1fb8a8bf3 715 uint16_t delayEntreTentativas = maxDelayEntreTentativas;
brunofgc 32:7cf1fb8a8bf3 716 while(retentativas){
brunofgc 32:7cf1fb8a8bf3 717 //------------Bloco de construcao de frame request----------
brunofgc 18:1eefda1f7736 718
brunofgc 32:7cf1fb8a8bf3 719 modBusMaster1::buffer[0]=enderecoSlave;
brunofgc 32:7cf1fb8a8bf3 720 modBusMaster1::buffer[1]=funcao;
brunofgc 32:7cf1fb8a8bf3 721 modBusMaster1::buffer[2]=registrador>>8;
brunofgc 32:7cf1fb8a8bf3 722 modBusMaster1::buffer[3]=(registrador & 0xFF);
brunofgc 32:7cf1fb8a8bf3 723 modBusMaster1::buffer[4]=qtdRegistros>>8;
brunofgc 32:7cf1fb8a8bf3 724 modBusMaster1::buffer[5]=(qtdRegistros & 0xFF);
brunofgc 32:7cf1fb8a8bf3 725
brunofgc 32:7cf1fb8a8bf3 726 crc=modBusMaster1::CRC16(modBusMaster1::buffer,6);
brunofgc 32:7cf1fb8a8bf3 727
brunofgc 32:7cf1fb8a8bf3 728 modBusMaster1::buffer[6]=crc>>8;
brunofgc 32:7cf1fb8a8bf3 729 modBusMaster1::buffer[7]=(crc & 0xFF);
brunofgc 0:1c0a769988ee 730
brunofgc 32:7cf1fb8a8bf3 731 //------------Bloco de construcao de frame request----------
brunofgc 32:7cf1fb8a8bf3 732 if(!modBusMaster1::sendFrame(8)){
brunofgc 32:7cf1fb8a8bf3 733 osDelay(delayEntreTentativas);
brunofgc 32:7cf1fb8a8bf3 734 retentativas--;
brunofgc 32:7cf1fb8a8bf3 735 if(debug){
brunofgc 32:7cf1fb8a8bf3 736 //DEBUG Mostrando o que é enviado via modbus
brunofgc 32:7cf1fb8a8bf3 737 pc.printf("Retentativa de comando modbus.\r\n");
brunofgc 32:7cf1fb8a8bf3 738 }
brunofgc 32:7cf1fb8a8bf3 739 if(retentativas==0){
brunofgc 32:7cf1fb8a8bf3 740 //erro de timeout certamente
brunofgc 32:7cf1fb8a8bf3 741 pc.printf("Erro de timeout.\n");
brunofgc 32:7cf1fb8a8bf3 742 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 743 modBusMaster1::index = 0;
brunofgc 32:7cf1fb8a8bf3 744 return 254;
brunofgc 32:7cf1fb8a8bf3 745 }
brunofgc 32:7cf1fb8a8bf3 746 }else{
brunofgc 32:7cf1fb8a8bf3 747 //Chegou pacote, vamos ver se é valido
brunofgc 32:7cf1fb8a8bf3 748 retentativas = 0;
brunofgc 32:7cf1fb8a8bf3 749 }
brunofgc 0:1c0a769988ee 750 }
brunofgc 32:7cf1fb8a8bf3 751 if(!modBusMaster1::pacoteEmEsperaValido){
brunofgc 0:1c0a769988ee 752 pc.printf("Erro de CRC.\n");
brunofgc 32:7cf1fb8a8bf3 753 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 32:7cf1fb8a8bf3 754 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 755 return 255;
brunofgc 0:1c0a769988ee 756 }
brunofgc 32:7cf1fb8a8bf3 757 //-----------------Bloco de tentativas---------------------
brunofgc 0:1c0a769988ee 758
brunofgc 0:1c0a769988ee 759 if(modBusMaster1::buffer[1]&(0x1<<7)){
brunofgc 0:1c0a769988ee 760 result = modBusMaster1::buffer[2];
brunofgc 0:1c0a769988ee 761 }else{
brunofgc 0:1c0a769988ee 762 qtd_dados_recebidos = modBusMaster1::buffer[2]/4;
brunofgc 0:1c0a769988ee 763 for(i=0;i<qtd_dados_recebidos;i++){
brunofgc 0:1c0a769988ee 764 u.c[3]=modBusMaster1::buffer[(i*4)+3];
brunofgc 0:1c0a769988ee 765 u.c[2]=modBusMaster1::buffer[(i*4)+4];
brunofgc 0:1c0a769988ee 766 u.c[1]=modBusMaster1::buffer[(i*4)+5];
brunofgc 0:1c0a769988ee 767 u.c[0]=modBusMaster1::buffer[(i*4)+6];
brunofgc 0:1c0a769988ee 768 var[i]=u.v;
brunofgc 0:1c0a769988ee 769 }
brunofgc 0:1c0a769988ee 770 result = 0;
brunofgc 0:1c0a769988ee 771 }
brunofgc 0:1c0a769988ee 772 modBusMaster1::pacoteEmEspera = false; //Sinalizo que li o pacote
brunofgc 0:1c0a769988ee 773 modBusMaster1::index = 0;
brunofgc 0:1c0a769988ee 774 return result;
brunofgc 0:1c0a769988ee 775 }