hsu han-lin / Mbed 2 deprecated Modbus_Gripper_Test

Control robot gripper through modbus

Dependencies:   Modbus_For_F446RE mbed

main.cpp@0:20ab14f5bf60, 2017-07-06 (annotated)

Committer:
stanley1228
Date:
Thu Jul 06 15:17:42 2017 +0000
Revision:
0:20ab14f5bf60
Test for gripper

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stanley1228 0:20ab14f5bf60 1 /*
stanley1228 0:20ab14f5bf60 2 * FreeModbus Libary: BARE Demo Application
stanley1228 0:20ab14f5bf60 3 * Copyright (C) 2006 Christian Walter <wolti@sil.at>
stanley1228 0:20ab14f5bf60 4 *
stanley1228 0:20ab14f5bf60 5 * This program is free software; you can redistribute it and/or modify
stanley1228 0:20ab14f5bf60 6 * it under the terms of the GNU General Public License as published by
stanley1228 0:20ab14f5bf60 7 * the Free Software Foundation; either version 2 of the License, or
stanley1228 0:20ab14f5bf60 8 * (at your option) any later version.
stanley1228 0:20ab14f5bf60 9 *
stanley1228 0:20ab14f5bf60 10 * This program is distributed in the hope that it will be useful,
stanley1228 0:20ab14f5bf60 11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
stanley1228 0:20ab14f5bf60 12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
stanley1228 0:20ab14f5bf60 13 * GNU General Public License for more details.
stanley1228 0:20ab14f5bf60 14 *
stanley1228 0:20ab14f5bf60 15 * You should have received a copy of the GNU General Public License
stanley1228 0:20ab14f5bf60 16 * along with this program; if not, write to the Free Software
stanley1228 0:20ab14f5bf60 17 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
stanley1228 0:20ab14f5bf60 18 *
stanley1228 0:20ab14f5bf60 19 * File: $Id: demo.c,v 1.1 2006/08/22 21:35:13 wolti Exp $
stanley1228 0:20ab14f5bf60 20 */
stanley1228 0:20ab14f5bf60 21
stanley1228 0:20ab14f5bf60 22 /* ----------------------- System includes --------------------------------*/
stanley1228 0:20ab14f5bf60 23
stanley1228 0:20ab14f5bf60 24 /* ----------------------- Modbus includes ----------------------------------*/
stanley1228 0:20ab14f5bf60 25 #include "mb.h"
stanley1228 0:20ab14f5bf60 26 #include "mbport.h"
stanley1228 0:20ab14f5bf60 27 #include "mbed.h" //stanley
stanley1228 0:20ab14f5bf60 28 DigitalOut myled(LED1); //stanley
stanley1228 0:20ab14f5bf60 29
stanley1228 0:20ab14f5bf60 30
stanley1228 0:20ab14f5bf60 31 Serial pc(USBTX, USBRX); //stanley
stanley1228 0:20ab14f5bf60 32
stanley1228 0:20ab14f5bf60 33 /* ----------------------- Defines ------------------------------------------*/
stanley1228 0:20ab14f5bf60 34 #define REG_INPUT_START (3001) //not use now stanley
stanley1228 0:20ab14f5bf60 35 #define REG_INPUT_NREGS 15 //not use now stanley
stanley1228 0:20ab14f5bf60 36 #define REG_HOLDING_START (4001)
stanley1228 0:20ab14f5bf60 37 #define REG_HOLDING_NREGS 10
stanley1228 0:20ab14f5bf60 38
stanley1228 0:20ab14f5bf60 39 #define SLAVE_ID 0x01
stanley1228 0:20ab14f5bf60 40
stanley1228 0:20ab14f5bf60 41 //==
stanley1228 0:20ab14f5bf60 42 //Modbus struct
stanley1228 0:20ab14f5bf60 43 //==
stanley1228 0:20ab14f5bf60 44
stanley1228 0:20ab14f5bf60 45
stanley1228 0:20ab14f5bf60 46 enum{
stanley1228 0:20ab14f5bf60 47 DEF_INX_R_GRIPPER_HOLD=0,
stanley1228 0:20ab14f5bf60 48 DEF_INX_L_GRIPPER_HOLD,
stanley1228 0:20ab14f5bf60 49 DEF_INX_TEST1,
stanley1228 0:20ab14f5bf60 50 DEF_INX_TEST2,
stanley1228 0:20ab14f5bf60 51 DEF_INX_CYCLE_COUNT
stanley1228 0:20ab14f5bf60 52 };
stanley1228 0:20ab14f5bf60 53
stanley1228 0:20ab14f5bf60 54 /* ----------------------- Static variables ---------------------------------*/
stanley1228 0:20ab14f5bf60 55 static USHORT usRegInputStart = REG_INPUT_START; //not use now stanley
stanley1228 0:20ab14f5bf60 56 static USHORT usRegInputBuf[REG_INPUT_NREGS]; //not use now stanley
stanley1228 0:20ab14f5bf60 57
stanley1228 0:20ab14f5bf60 58 static USHORT usRegHoldingStart = REG_HOLDING_START;
stanley1228 0:20ab14f5bf60 59 static USHORT usRegHoldingBuf[REG_HOLDING_NREGS];
stanley1228 0:20ab14f5bf60 60
stanley1228 0:20ab14f5bf60 61 /* ----------------------- Start implementation -----------------------------*/
stanley1228 0:20ab14f5bf60 62
stanley1228 0:20ab14f5bf60 63 int main( void )
stanley1228 0:20ab14f5bf60 64 {
stanley1228 0:20ab14f5bf60 65 eMBErrorCode eStatus;
stanley1228 0:20ab14f5bf60 66
stanley1228 0:20ab14f5bf60 67 eStatus = eMBInit( MB_RTU, SLAVE_ID, 0, 460800, MB_PAR_NONE );
stanley1228 0:20ab14f5bf60 68
stanley1228 0:20ab14f5bf60 69 /* Enable the Modbus Protocol Stack. */
stanley1228 0:20ab14f5bf60 70 eMBEnable( );
stanley1228 0:20ab14f5bf60 71 //eStatus = eMBEnable( );
stanley1228 0:20ab14f5bf60 72
stanley1228 0:20ab14f5bf60 73 // Initialise some registers
stanley1228 0:20ab14f5bf60 74 usRegHoldingBuf[DEF_INX_R_GRIPPER_HOLD]=0;
stanley1228 0:20ab14f5bf60 75 usRegHoldingBuf[DEF_INX_L_GRIPPER_HOLD]=0;
stanley1228 0:20ab14f5bf60 76 usRegHoldingBuf[DEF_INX_TEST1]=123;
stanley1228 0:20ab14f5bf60 77 usRegHoldingBuf[DEF_INX_TEST2]=456;
stanley1228 0:20ab14f5bf60 78 usRegHoldingBuf[DEF_INX_CYCLE_COUNT]=0;
stanley1228 0:20ab14f5bf60 79
stanley1228 0:20ab14f5bf60 80
stanley1228 0:20ab14f5bf60 81 myled=1;//stanley
stanley1228 0:20ab14f5bf60 82
stanley1228 0:20ab14f5bf60 83 while(1)
stanley1228 0:20ab14f5bf60 84 {
stanley1228 0:20ab14f5bf60 85 //(void)eMBPoll( ); origianl
stanley1228 0:20ab14f5bf60 86 //
stanley1228 0:20ab14f5bf60 87 eStatus=eMBPoll();
stanley1228 0:20ab14f5bf60 88
stanley1228 0:20ab14f5bf60 89 /* Here we simply count the number of poll cycles. */
stanley1228 0:20ab14f5bf60 90 usRegHoldingBuf[DEF_INX_CYCLE_COUNT]++;
stanley1228 0:20ab14f5bf60 91
stanley1228 0:20ab14f5bf60 92 wait_ms(5); //stanley
stanley1228 0:20ab14f5bf60 93
stanley1228 0:20ab14f5bf60 94
stanley1228 0:20ab14f5bf60 95 if(usRegHoldingBuf[DEF_INX_R_GRIPPER_HOLD]==0)
stanley1228 0:20ab14f5bf60 96 {
stanley1228 0:20ab14f5bf60 97 myled=0;
stanley1228 0:20ab14f5bf60 98 }
stanley1228 0:20ab14f5bf60 99 else if(usRegHoldingBuf[DEF_INX_R_GRIPPER_HOLD]==1)
stanley1228 0:20ab14f5bf60 100 {
stanley1228 0:20ab14f5bf60 101 myled=1;
stanley1228 0:20ab14f5bf60 102 }
stanley1228 0:20ab14f5bf60 103
stanley1228 0:20ab14f5bf60 104 }
stanley1228 0:20ab14f5bf60 105 }
stanley1228 0:20ab14f5bf60 106
stanley1228 0:20ab14f5bf60 107 eMBErrorCode
stanley1228 0:20ab14f5bf60 108 eMBRegInputCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs )
stanley1228 0:20ab14f5bf60 109 {
stanley1228 0:20ab14f5bf60 110 eMBErrorCode eStatus = MB_ENOERR;
stanley1228 0:20ab14f5bf60 111 int iRegIndex;
stanley1228 0:20ab14f5bf60 112
stanley1228 0:20ab14f5bf60 113 if( ( usAddress >= REG_INPUT_START )
stanley1228 0:20ab14f5bf60 114 && ( usAddress + usNRegs <= REG_INPUT_START + REG_INPUT_NREGS ) )
stanley1228 0:20ab14f5bf60 115 {
stanley1228 0:20ab14f5bf60 116 iRegIndex = ( int )( usAddress - usRegInputStart );
stanley1228 0:20ab14f5bf60 117 while( usNRegs > 0 )
stanley1228 0:20ab14f5bf60 118 {
stanley1228 0:20ab14f5bf60 119 *pucRegBuffer++ =
stanley1228 0:20ab14f5bf60 120 ( unsigned char )( usRegInputBuf[iRegIndex] >> 8 );
stanley1228 0:20ab14f5bf60 121 *pucRegBuffer++ =
stanley1228 0:20ab14f5bf60 122 ( unsigned char )( usRegInputBuf[iRegIndex] & 0xFF );
stanley1228 0:20ab14f5bf60 123 iRegIndex++;
stanley1228 0:20ab14f5bf60 124 usNRegs--;
stanley1228 0:20ab14f5bf60 125 }
stanley1228 0:20ab14f5bf60 126 }
stanley1228 0:20ab14f5bf60 127 else
stanley1228 0:20ab14f5bf60 128 {
stanley1228 0:20ab14f5bf60 129 eStatus = MB_ENOREG;
stanley1228 0:20ab14f5bf60 130 }
stanley1228 0:20ab14f5bf60 131
stanley1228 0:20ab14f5bf60 132 return eStatus;
stanley1228 0:20ab14f5bf60 133 }
stanley1228 0:20ab14f5bf60 134
stanley1228 0:20ab14f5bf60 135 eMBErrorCode
stanley1228 0:20ab14f5bf60 136 eMBRegHoldingCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode ) //change variable to REG_HOLDING ,original is all input register
stanley1228 0:20ab14f5bf60 137 {
stanley1228 0:20ab14f5bf60 138 eMBErrorCode eStatus = MB_ENOERR;
stanley1228 0:20ab14f5bf60 139 int iRegIndex;
stanley1228 0:20ab14f5bf60 140
stanley1228 0:20ab14f5bf60 141 if (eMode == MB_REG_READ)
stanley1228 0:20ab14f5bf60 142 {
stanley1228 0:20ab14f5bf60 143 if( ( usAddress >= REG_HOLDING_START )
stanley1228 0:20ab14f5bf60 144 && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) )
stanley1228 0:20ab14f5bf60 145 {
stanley1228 0:20ab14f5bf60 146 iRegIndex = ( int )( usAddress - usRegHoldingStart );
stanley1228 0:20ab14f5bf60 147 while( usNRegs > 0 )
stanley1228 0:20ab14f5bf60 148 {
stanley1228 0:20ab14f5bf60 149 *pucRegBuffer++ =
stanley1228 0:20ab14f5bf60 150 ( unsigned char )( usRegHoldingBuf[iRegIndex] >> 8 );
stanley1228 0:20ab14f5bf60 151 *pucRegBuffer++ =
stanley1228 0:20ab14f5bf60 152 ( unsigned char )( usRegHoldingBuf[iRegIndex] & 0xFF );
stanley1228 0:20ab14f5bf60 153 iRegIndex++;
stanley1228 0:20ab14f5bf60 154 usNRegs--;
stanley1228 0:20ab14f5bf60 155 }
stanley1228 0:20ab14f5bf60 156 }
stanley1228 0:20ab14f5bf60 157 }
stanley1228 0:20ab14f5bf60 158
stanley1228 0:20ab14f5bf60 159 if (eMode == MB_REG_WRITE)
stanley1228 0:20ab14f5bf60 160 {
stanley1228 0:20ab14f5bf60 161 if( ( usAddress >= REG_HOLDING_START )
stanley1228 0:20ab14f5bf60 162 && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) )
stanley1228 0:20ab14f5bf60 163 {
stanley1228 0:20ab14f5bf60 164 iRegIndex = ( int )( usAddress - usRegHoldingStart );
stanley1228 0:20ab14f5bf60 165 while( usNRegs > 0 )
stanley1228 0:20ab14f5bf60 166 {
stanley1228 0:20ab14f5bf60 167 usRegHoldingBuf[iRegIndex] = ((unsigned int) *pucRegBuffer << 8) | ((unsigned int) *(pucRegBuffer+1));
stanley1228 0:20ab14f5bf60 168 pucRegBuffer+=2;
stanley1228 0:20ab14f5bf60 169 iRegIndex++;
stanley1228 0:20ab14f5bf60 170 usNRegs--;
stanley1228 0:20ab14f5bf60 171 }
stanley1228 0:20ab14f5bf60 172 }
stanley1228 0:20ab14f5bf60 173 }
stanley1228 0:20ab14f5bf60 174
stanley1228 0:20ab14f5bf60 175 return eStatus;
stanley1228 0:20ab14f5bf60 176 }
stanley1228 0:20ab14f5bf60 177
stanley1228 0:20ab14f5bf60 178
stanley1228 0:20ab14f5bf60 179 eMBErrorCode
stanley1228 0:20ab14f5bf60 180 eMBRegCoilsCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNCoils,
stanley1228 0:20ab14f5bf60 181 eMBRegisterMode eMode )
stanley1228 0:20ab14f5bf60 182 {
stanley1228 0:20ab14f5bf60 183 return MB_ENOREG;
stanley1228 0:20ab14f5bf60 184 }
stanley1228 0:20ab14f5bf60 185
stanley1228 0:20ab14f5bf60 186 eMBErrorCode
stanley1228 0:20ab14f5bf60 187 eMBRegDiscreteCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNDiscrete )
stanley1228 0:20ab14f5bf60 188 {
stanley1228 0:20ab14f5bf60 189 return MB_ENOREG;
stanley1228 0:20ab14f5bf60 190 }
stanley1228 0:20ab14f5bf60 191