Revision 0:7a9f746fb93e, committed 2014-08-27

Comitter:

homayoun

Date:

Wed Aug 27 18:13:19 2014 +0000

Commit message:

Arduino SimpleModbusMaster modified for mbed

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SimpleModbus.cpp	Wed Aug 27 18:13:19 2014 +0000
@@ -0,0 +1,443 @@
+#include "mbed.h"
+#include "SimpleModbus.h"
+
+// state machine states
+#define IDLE 1
+#define WAITING_FOR_REPLY 2
+#define WAITING_FOR_TURNAROUND 3
+
+#define BUFFER_SIZE 64
+
+Timer ModBusTimer;
+Serial ModbusPort(SERIAL_TX, SERIAL_RX);
+
+unsigned char state;
+unsigned char retry_count;
+unsigned char TxEnablePin;
+
+// frame[] is used to receive and transmit packages.
+// The maximum number of bytes in a modbus packet is 256 bytes
+// This is limited to the serial buffer of 64 bytes
+unsigned char frame[BUFFER_SIZE];
+unsigned char buffer;
+unsigned int timeout; // timeout interval
+unsigned int polling; // turnaround delay interval
+unsigned int T1_5; // inter character time out in microseconds
+unsigned int total_no_of_packets;
+Packet* packetArray; // packet starting address
+Packet* packet; // current packet
+
+// function definitions
+void idle();
+void constructPacket();
+unsigned char construct_F15();
+unsigned char construct_F16();
+void waiting_for_reply();
+void processReply();
+void waiting_for_turnaround();
+void process_F1_F2();
+void process_F3_F4();
+void process_F15_F16();
+void processError();
+void processSuccess();
+unsigned int calculateCRC(unsigned char bufferSize);
+void sendPacket(unsigned char bufferSize);
+
+// Modbus Master State Machine
+void modbus_update()
+{
+    switch (state) {
+        case IDLE:
+            idle();
+            break;
+        case WAITING_FOR_REPLY:
+            waiting_for_reply();
+            break;
+        case WAITING_FOR_TURNAROUND:
+            waiting_for_turnaround();
+            break;
+    }
+}
+
+void idle()
+{
+    static unsigned int packet_index;
+
+    unsigned int failed_connections = 0;
+
+    unsigned char current_connection;
+
+    do {
+        if (packet_index == total_no_of_packets) // wrap around to the beginning
+            packet_index = 0;
+
+        // proceed to the next packet
+        packet = &packetArray[packet_index];
+
+        // get the current connection status
+        current_connection = packet->connection;
+
+        if (!current_connection) {
+            // If all the connection attributes are false return
+            // immediately to the main sketch
+            if (++failed_connections == total_no_of_packets)
+                return;
+        }
+        packet_index++;
+
+        // if a packet has no connection get the next one
+    } while (!current_connection);
+
+    constructPacket();
+}
+
+void constructPacket()
+{
+    packet->requests++;
+    frame[0] = packet->id;
+    frame[1] = packet->function;
+    frame[2] = packet->address >> 8; // address Hi
+    frame[3] = packet->address & 0xFF; // address Lo
+    // For functions 1 & 2 data is the number of points
+    // For functions 3, 4 & 16 data is the number of registers
+    // For function 15 data is the number of coils
+    frame[4] = packet->data >> 8; // MSB
+    frame[5] = packet->data & 0xFF; // LSB
+
+
+    unsigned char frameSize;
+
+    // construct the frame according to the modbus function
+    if (packet->function == PRESET_MULTIPLE_REGISTERS)
+        frameSize = construct_F16();
+    else if (packet->function == FORCE_MULTIPLE_COILS)
+        frameSize = construct_F15();
+    else // else functions 1,2,3 & 4 is assumed. They all share the exact same request format.
+        frameSize = 8; // the request is always 8 bytes in size for the above mentioned functions.
+
+    unsigned int crc16 = calculateCRC(frameSize - 2);
+    frame[frameSize - 2] = crc16 >> 8; // split crc into 2 bytes
+    frame[frameSize - 1] = crc16 & 0xFF;
+    sendPacket(frameSize);
+
+    state = WAITING_FOR_REPLY; // state change
+
+    // if broadcast is requested (id == 0) for function 15 or 16 then override
+    // the previous state and force a success since the slave wont respond
+    if (packet->id == 0)
+        processSuccess();
+}
+
+unsigned char construct_F15()
+{
+    // function 15 coil information is packed LSB first until the first 16 bits are completed
+    // It is received the same way..
+    unsigned char no_of_registers = packet->data / 16;
+    unsigned char no_of_bytes = no_of_registers * 2;
+
+    // if the number of points dont fit in even 2byte amounts (one register) then use another register and pad
+    if (packet->data % 16 > 0) {
+        no_of_registers++;
+        no_of_bytes++;
+    }
+
+    frame[6] = no_of_bytes;
+    unsigned char bytes_processed = 0;
+    unsigned char index = 7; // user data starts at index 7
+    unsigned int temp;
+
+    for (unsigned char i = 0; i < no_of_registers; i++) {
+        temp = packet->register_array[i]; // get the data
+        frame[index] = temp & 0xFF;
+        bytes_processed++;
+
+        if (bytes_processed < no_of_bytes) {
+            frame[index + 1] = temp >> 8;
+            bytes_processed++;
+            index += 2;
+        }
+    }
+    unsigned char frameSize = (9 + no_of_bytes); // first 7 bytes of the array + 2 bytes CRC + noOfBytes
+    return frameSize;
+}
+
+unsigned char construct_F16()
+{
+    unsigned char no_of_bytes = packet->data * 2;
+
+    // first 6 bytes of the array + no_of_bytes + 2 bytes CRC
+    frame[6] = no_of_bytes; // number of bytes
+    unsigned char index = 7; // user data starts at index 7
+    unsigned char no_of_registers = packet->data;
+    unsigned int temp;
+
+    for (unsigned char i = 0; i < no_of_registers; i++) {
+        temp = packet->register_array[i]; // get the data
+        frame[index] = temp >> 8;
+        index++;
+        frame[index] = temp & 0xFF;
+        index++;
+    }
+    unsigned char frameSize = (9 + no_of_bytes); // first 7 bytes of the array + 2 bytes CRC + noOfBytes
+    return frameSize;
+}
+
+void waiting_for_turnaround()
+{
+    if (ModBusTimer.read_ms() > polling)
+        state = IDLE;
+}
+
+// get the serial data from the buffer
+void waiting_for_reply()
+{
+    if (ModbusPort.readable()) { // is there something to check?
+        unsigned char overflowFlag = 0;
+        buffer = 0;
+        while (ModbusPort.readable()) {
+            // The maximum number of bytes is limited to the serial buffer size
+            // of BUFFER_SIZE. If more bytes is received than the BUFFER_SIZE the
+            // overflow flag will be set and the serial buffer will be read until
+            // all the data is cleared from the receive buffer, while the slave is
+            // still responding.
+            if (overflowFlag)
+                ModbusPort.getc();
+            else {
+                if (buffer == BUFFER_SIZE)
+                    overflowFlag = 1;
+
+                frame[buffer] = ModbusPort.getc();
+                buffer++;
+            }
+            // This is not 100% correct but it will suffice.
+            // worst case scenario is if more than one character time expires
+            // while reading from the buffer then the buffer is most likely empty
+            // If there are more bytes after such a delay it is not supposed to
+            // be received and thus will force a frame_error.
+            wait_ms(T1_5); // inter character time out
+        }
+
+        // The minimum buffer size from a slave can be an exception response of
+        // 5 bytes. If the buffer was partially filled set a frame_error.
+        // The maximum number of bytes in a modbus packet is 256 bytes.
+        // The serial buffer limits this to 128 bytes.
+
+        if ((buffer < 5) || overflowFlag)
+            processError();
+
+        // Modbus over serial line datasheet states that if an unexpected slave
+        // responded the master must do nothing and continue with the time out.
+        // This seems silly cause if an incorrect slave responded you would want to
+        // have a quick turnaround and poll the right one again. If an unexpected
+        // slave responded it will most likely be a frame error in any event
+        else if (frame[0] != packet->id) // check id returned
+            processError();
+        else
+            processReply();
+    } else if (ModBusTimer.read_ms() > timeout) { // check timeout
+        processError();
+        state = IDLE; //state change, override processError() state
+    }
+}
+
+void processReply()
+{
+    // combine the crc Low & High bytes
+    unsigned int received_crc = ((frame[buffer - 2] << 8) | frame[buffer - 1]);
+    unsigned int calculated_crc = calculateCRC(buffer - 2);
+
+    if (calculated_crc == received_crc) { // verify checksum
+        // To indicate an exception response a slave will 'OR'
+        // the requested function with 0x80
+        if ((frame[1] & 0x80) == 0x80) { // extract 0x80
+            packet->exception_errors++;
+            processError();
+        } else {
+            switch (frame[1]) { // check function returned
+                case READ_COIL_STATUS:
+                case READ_INPUT_STATUS:
+                    process_F1_F2();
+                    break;
+                case READ_INPUT_REGISTERS:
+                case READ_HOLDING_REGISTERS:
+                    process_F3_F4();
+                    break;
+                case FORCE_MULTIPLE_COILS:
+                case PRESET_MULTIPLE_REGISTERS:
+                    process_F15_F16();
+                    break;
+                default: // illegal function returned
+                    processError();
+                    break;
+            }
+        }
+    } else { // checksum failed
+        processError();
+    }
+}
+
+void process_F1_F2()
+{
+    // packet->data for function 1 & 2 is actually the number of boolean points
+    unsigned char no_of_registers = packet->data / 16;
+    unsigned char number_of_bytes = no_of_registers * 2;
+
+    // if the number of points dont fit in even 2byte amounts (one register) then use another register and pad
+    if (packet->data % 16 > 0) {
+        no_of_registers++;
+        number_of_bytes++;
+    }
+
+    if (frame[2] == number_of_bytes) { // check number of bytes returned
+        unsigned char bytes_processed = 0;
+        unsigned char index = 3; // start at the 4th element in the frame and combine the Lo byte
+        unsigned int temp;
+        for (unsigned char i = 0; i < no_of_registers; i++) {
+            temp = frame[index];
+            bytes_processed++;
+            if (bytes_processed < number_of_bytes) {
+                temp = (frame[index + 1] << 8) | temp;
+                bytes_processed++;
+                index += 2;
+            }
+            packet->register_array[i] = temp;
+        }
+        processSuccess();
+    } else // incorrect number of bytes returned
+        processError();
+}
+
+void process_F3_F4()
+{
+    // check number of bytes returned - unsigned int == 2 bytes
+    // data for function 3 & 4 is the number of registers
+    if (frame[2] == (packet->data * 2)) {
+        unsigned char index = 3;
+        for (unsigned char i = 0; i < packet->data; i++) {
+            // start at the 4th element in the frame and combine the Lo byte
+            packet->register_array[i] = (frame[index] << 8) | frame[index + 1];
+            index += 2;
+        }
+        processSuccess();
+    } else // incorrect number of bytes returned
+        processError();
+}
+
+void process_F15_F16()
+{
+    // Functions 15 & 16 is just an echo of the query
+    unsigned int recieved_address = ((frame[2] << 8) | frame[3]);
+    unsigned int recieved_data = ((frame[4] << 8) | frame[5]);
+
+    if ((recieved_address == packet->address) && (recieved_data == packet->data))
+        processSuccess();
+    else
+        processError();
+}
+
+void processError()
+{
+    packet->retries++;
+    packet->failed_requests++;
+
+    // if the number of retries have reached the max number of retries
+    // allowable, stop requesting the specific packet
+    if (packet->retries == retry_count) {
+        packet->connection = 0;
+        packet->retries = 0;
+    }
+    state = WAITING_FOR_TURNAROUND;
+    ModBusTimer.start(); // start the turnaround delay
+}
+
+void processSuccess()
+{
+    packet->successful_requests++; // transaction sent successfully
+    packet->retries = 0; // if a request was successful reset the retry counter
+    state = WAITING_FOR_TURNAROUND;
+    ModBusTimer.start(); // start the turnaround delay
+}
+
+void modbus_configure(unsigned int _timeout,
+                      unsigned int _polling,
+                      unsigned char _retry_count,
+                      Packet* _packets,
+                      unsigned int _total_no_of_packets)
+{
+    // Modbus states that a baud rate higher than 19200 must use a fixed 750 us
+    // for inter character time out and 1.75 ms for a frame delay for baud rates
+    // below 19200 the timing is more critical and has to be calculated.
+    // E.g. 9600 baud in a 11 bit packet is 9600/11 = 872 characters per second
+    // In milliseconds this will be 872 characters per 1000ms. So for 1 character
+    // 1000ms/872 characters is 1.14583ms per character and finally modbus states
+    // an inter-character must be 1.5T or 1.5 times longer than a character. Thus
+    // 1.5T = 1.14583ms * 1.5 = 1.71875ms. A frame delay is 3.5T.
+    // Thus the formula is T1.5(us) = (1000ms * 1000(us) * 1.5 * 11bits)/baud
+    // 1000ms * 1000(us) * 1.5 * 11bits = 16500000 can be calculated as a constant
+
+
+    T1_5 = 750;
+
+    // initialize
+    state = IDLE;
+    timeout = _timeout;
+    polling = _polling;
+    retry_count = _retry_count;
+    total_no_of_packets = _total_no_of_packets;
+    packetArray = _packets;
+    
+    ModbusPort.baud(9600);
+    ModbusPort.format(8,SerialBase::None,2);
+}
+
+void modbus_construct(Packet *_packet,
+                      unsigned char id,
+                      unsigned char function,
+                      unsigned int address,
+                      unsigned int data,
+                      unsigned int* register_array)
+{
+    _packet->id = id;
+    _packet->function = function;
+    _packet->address = address;
+    _packet->data = data;
+    _packet->register_array = register_array;
+    _packet->connection = 1;
+}
+
+unsigned int calculateCRC(unsigned char bufferSize)
+{
+    unsigned int temp, temp2, flag;
+    temp = 0xFFFF;
+    for (unsigned char i = 0; i < bufferSize; i++) {
+        temp = temp ^ frame[i];
+        for (unsigned char j = 1; j <= 8; j++) {
+            flag = temp & 0x0001;
+            temp >>= 1;
+            if (flag)
+                temp ^= 0xA001;
+        }
+    }
+    // Reverse byte order.
+    temp2 = temp >> 8;
+    temp = (temp << 8) | temp2;
+    temp &= 0xFFFF;
+    // the returned value is already swapped
+    // crcLo byte is first & crcHi byte is last
+    return temp;
+}
+
+void sendPacket(unsigned char bufferSize)
+{
+
+
+    for (unsigned char i = 0; i < bufferSize; i++)
+        ModbusPort.putc(frame[i]);
+
+    ///ModbusPort.flush();
+
+    // It may be necessary to add a another character delay T1_5 here to
+    // avoid truncating the message on slow and long distance connections
+
+    ModBusTimer.start(); // start the timeout delay
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SimpleModbus.h	Wed Aug 27 18:13:19 2014 +0000
@@ -0,0 +1,129 @@
+#ifndef SIMPLE_MODBUS_MASTER_H
+#define SIMPLE_MODBUS_MASTER_H
+
+// SimpleModbusMasterV12
+
+/*
+	 SimpleModbusMaster allows you to communicate
+	 to any slave using the Modbus RTU protocol.
+
+	 To communicate with a slave you need to create a packet that will contain
+   all the information required to communicate to the slave.
+   Information counters are implemented for further diagnostic.
+   These are variables already implemented in a packet.
+   You can set and clear these variables as needed.
+
+   The following modbus information counters are implemented:
+
+   requests - contains the total requests to a slave
+   successful_requests - contains the total successful requests
+	 failed_requests - general frame errors, checksum failures and buffer failures
+   retries - contains the number of retries
+   exception_errors - contains the specific modbus exception response count
+	 These are normally illegal function, illegal address, illegal data value
+	 or a miscellaneous error response.
+
+   And finally there is a variable called "connection" that
+   at any given moment contains the current connection
+   status of the packet. If true then the connection is
+   active. If false then communication will be stopped
+   on this packet until the programmer sets the connection
+   variable to true explicitly. The reason for this is
+   because of the time out involved in modbus communication.
+   Each faulty slave that's not communicating will slow down
+   communication on the line with the time out value. E.g.
+   Using a time out of 1500ms, if you have 10 slaves and 9 of them
+   stops communicating the latency burden placed on communication
+   will be 1500ms * 9 = 13,5 seconds!
+   Communication will automatically be stopped after the retry count expires
+   on each specific packet.
+
+   All the error checking, updating and communication multitasking
+   takes place in the background.
+
+   In general to communicate with to a slave using modbus
+   RTU you will request information using the specific
+   slave id, the function request, the starting address
+   and lastly the data to request.
+   Function 1, 2, 3, 4, 15 & 16 are supported. In addition to
+   this broadcasting (id = 0) is supported for function 15 & 16.
+
+   Constants are provided for:
+	 Function 1  - READ_COIL_STATUS
+	 Function 2  - READ_INPUT_STATUS
+   Function 3  - READ_HOLDING_REGISTERS
+	 Function 4  - READ_INPUT_REGISTERS
+	 Function 15 - FORCE_MULTIPLE_COILS
+   Function 16 - PRESET_MULTIPLE_REGISTERS
+
+	 Note:
+   The Arduino serial ring buffer is 64 bytes or 32 registers.
+   Most of the time you will connect the Arduino using a MAX485 or similar.
+
+   In a function 3 or 4 request the master will attempt to read from a
+   slave and since 5 bytes is already used for ID, FUNCTION, NO OF BYTES
+   and two BYTES CRC the master can only request 58 bytes or 29 registers.
+
+   In a function 16 request the master will attempt to write to a
+   slave and since 9 bytes is already used for ID, FUNCTION, ADDRESS,
+   NO OF REGISTERS, NO OF BYTES and two BYTES CRC the master can only write
+   54 bytes or 27 registers.
+
+   Note:
+   Using a USB to Serial converter the maximum bytes you can send is
+   limited to its internal buffer which differs between manufactures.
+
+   Since it is assumed that you will mostly use the Arduino to connect without
+   using a USB to Serial converter the internal buffer is set the same as the
+   Arduino Serial ring buffer which is 64 bytes.
+*/
+
+#define READ_COIL_STATUS 1 // Reads the ON/OFF status of discrete outputs (0X references, coils) in the slave.
+#define READ_INPUT_STATUS 2 // Reads the ON/OFF status of discrete inputs (1X references) in the slave.
+#define READ_HOLDING_REGISTERS 3 // Reads the binary contents of holding registers (4X references) in the slave.
+#define READ_INPUT_REGISTERS 4 // Reads the binary contents of input registers (3X references) in the slave. Not writable.
+#define FORCE_MULTIPLE_COILS 15 // Forces each coil (0X reference) in a sequence of coils to either ON or OFF.
+#define PRESET_MULTIPLE_REGISTERS 16 // Presets values into a sequence of holding registers (4X references).
+
+typedef struct {
+    // specific packet info
+    unsigned char id;
+    unsigned char function;
+    unsigned int address;
+    // For functions 1 & 2 data is the number of points
+    // For functions 3, 4 & 16 data is the number of registers
+    // For function 15 data is the number of coils
+    unsigned int data;
+    unsigned int* register_array;
+
+    // modbus information counters
+    unsigned int requests;
+    unsigned int successful_requests;
+    unsigned int failed_requests;
+    unsigned int exception_errors;
+    unsigned int retries;
+
+    // connection status of packet
+    unsigned char connection;
+
+} Packet;
+
+typedef Packet* packetPointer;
+
+// function definitions
+void modbus_update();
+
+void modbus_construct(Packet *_packet,
+                      unsigned char id,
+                      unsigned char function,
+                      unsigned int address,
+                      unsigned int data,
+                      unsigned int* register_array);
+
+void modbus_configure(unsigned int _timeout,
+                      unsigned int _polling,
+                      unsigned char _retry_count,
+                      Packet* _packets,
+                      unsigned int _total_no_of_packets);
+
+#endif
\ No newline at end of file