main.cpp

00001 #include "mbed.h"
00002 #include "rtos.h"
00003 #include "ModbusSlaveRTU.h"
00004 #include "MessageQueue.h"
00005 #include "SerialPortHandler.h"
00006 
00007 DigitalOut led(LED1);
00008 Serial pc(SERIAL_TX, SERIAL_RX);
00009 MessageQueue<uint8_t> txQueue(64);
00010 MessageQueue<uint8_t> rxQueue(64);
00011 SerialPortHandler sph(&pc, &txQueue, &rxQueue);
00012 Timer receiveTimer;
00013 bool isReceiveTimerInitialized = false;
00014 ModbusSlaveRTU* mbus;
00015 Thread* modbus_process_thread;
00016 Thread* data_send_thread;
00017 Thread* receive_timer_check_thread;
00018 
00019 uint8_t cRegs[]  = {1,2,3,4,5,6,7,8,9,0,1,2,3,4,5,6,7,8,9,0};
00020 uint8_t inRegs[] = {1,2,3,4,5,6,7,8,9,0,1,2,3,4,5,6,7,8,9,0};
00021 uint8_t hRegs[]  = {1,2,3,4,5,6,7,8,9,0,1,2,3,4,5,6,7,8,9,0};
00022 
00023 ThreadSafeArray_t hR;
00024 ThreadSafeArray_t cR;
00025 ThreadSafeArray_t iR;
00026     
00027 void rx_interrupt(void);
00028 
00029 void modbus_process (void const *args) {
00030 
00031     while (true) {
00032         mbus->FSM();
00033         Thread::wait(10);    
00034     }
00035 }
00036 
00037 void data_send_process(void const *args)
00038 {
00039     while (true) { 
00040        if (!txQueue.isEmpty())
00041        {           
00042            sph.transmitPacket();
00043            txQueue.reset();
00044        }
00045        Thread::wait(500);
00046     }    
00047 }
00048 
00049 void timer_check(void const *args)
00050 {
00051     while(true) {
00052         if (receiveTimer.read_ms() >= 1) {
00053             mbus->trigger();
00054             isReceiveTimerInitialized = false;
00055             receiveTimer.reset();
00056             receiveTimer.stop();
00057         }
00058         /*Waits for 5 ms*/
00059         Thread::wait(5);
00060     }
00061 }
00062 
00063 int main (void) {
00064     pc.attach(&rx_interrupt);
00065     
00066     hR.length = 20;
00067     hR.data      = hRegs;
00068     
00069     cR.length = 20;
00070     cR.data      = cRegs;
00071 
00072     iR.length = 20;
00073     iR.data      = inRegs;
00074     
00075     mbus = new ModbusSlaveRTU(0x01, &txQueue, &rxQueue, &cR, &iR, &hR);    
00076     modbus_process_thread = new Thread(modbus_process);
00077     data_send_thread= new Thread(data_send_process);
00078     receive_timer_check_thread = new Thread(timer_check);
00079     while(true)
00080     {
00081         Thread::wait(1000);     
00082         led = !led;
00083     }
00084 }
00085 
00086 void rx_interrupt(void) {
00087     if (!isReceiveTimerInitialized)
00088     {
00089         isReceiveTimerInitialized = true;
00090         receiveTimer.start();
00091     }    
00092     else
00093     {
00094         receiveTimer.reset();
00095     }            
00096     sph.receivePacket();
00097     return;
00098 }