File content as of revision 0:f147c77caac0:

#include "mb.h"
#include "mbport.h"
#include "mbed.h" //stanley
#include "dynamixel.h"

#define DEBUG 1

#if (DEBUG)
	#define DBGMSG(x)  pc.printf x;
#else
    #define DBGMSG(x)
#endif


DigitalOut myled(LED1); //stanley


Serial pc(USBTX, USBRX);  //stanley

/* ----------------------- Defines ------------------------------------------*/
#define REG_INPUT_START (3001)  //not use now stanley
#define REG_INPUT_NREGS 15		//not use now stanley
#define REG_HOLDING_START (4001)
#define REG_HOLDING_NREGS 28

#define SLAVE_ID 0x0A
#define DEF_MAX_AXIS 7
  	//==
    //Modbus struct
    //==
    //Input register  0~14 
    //public UInt16[] PosVal = new UInt16[DEF_MAX_AXIS];  7
    //public Int16[] VelValue = new Int16[DEF_MAX_AXIS];  7
    //public Int16 Err_State = 0;						  1	

    ////Holding register  0~5
    //public Int16 TargetPosX;			1
    //public Int16 TargetPosY;			1
    //public Int16 TargetPosZ;			1
    //public Int16 OPMode;      //P2P	1
    //public Int16 SpeedRatio; //0~1	1	

enum{
	DEF_INX_TARGET_POSX=0,
	DEF_INX_TARGET_POSY,
	DEF_INX_TARGET_POSZ,
	DEF_INX_OPMODE,
	DEF_INX_SPPED_RATIO_L,
	DEF_INX_SPPED_RATIO_H,

	DEF_INX_TARPOS1=6,
	DEF_INX_TARPOS2,
	DEF_INX_TARPOS3,
	DEF_INX_TARPOS4,
	DEF_INX_TARPOS5,
	DEF_INX_TARPOS6,
	DEF_INX_TARPOS7,

	DEF_INX_POSVAL1=13,
	DEF_INX_POSVAL2,
	DEF_INX_POSVAL3,
	DEF_INX_POSVAL4,
	DEF_INX_POSVAL5,
	DEF_INX_POSVAL6,
	DEF_INX_POSVAL7,

	DEF_INX_VELVAL1=20,
	DEF_INX_VELVAL2,
	DEF_INX_VELVAL3,
	DEF_INX_VELVAL4,
	DEF_INX_VELVAL5,
	DEF_INX_VELVAL6,
	DEF_INX_VELVAL7
};

enum eOPMode
{
    JOG,
    P2P,
    SEWING,
    LINE
};
/* ----------------------- Static variables ---------------------------------*/
static USHORT   usRegInputStart = REG_INPUT_START; //not use now stanley
static USHORT   usRegInputBuf[REG_INPUT_NREGS]; //not use now stanley

static USHORT   usRegHoldingStart = REG_HOLDING_START;
static USHORT   usRegHoldingBuf[REG_HOLDING_NREGS];

/* ----------------------- Start implementation -----------------------------*/

int main( void )
{
    eMBErrorCode    eStatus;

    eStatus = eMBInit( MB_RTU, SLAVE_ID, 0, 115200, MB_PAR_NONE );

    /* Enable the Modbus Protocol Stack. */
	eMBEnable(  );
    //eStatus = eMBEnable(  );
    
    // Initialise some registers
 //   usRegInputBuf[1] = 0x1234;
 //   usRegInputBuf[2] = 0x5678;
 //   usRegInputBuf[3] = 0x9abc;  
	//usRegInputBuf[4] = 0x1000;
 //   usRegInputBuf[5] = 0x1001;  
 //   usRegInputBuf[6] = 0x1002;  

	usRegHoldingBuf[DEF_INX_TARGET_POSX]=0;
	usRegHoldingBuf[DEF_INX_TARGET_POSY]=1000;
	usRegHoldingBuf[DEF_INX_TARGET_POSZ]=2000;
	usRegHoldingBuf[DEF_INX_OPMODE]=JOG;
	
	float fSpeedRatio=0.345;
	USHORT* usp=(USHORT*)&fSpeedRatio;
	usRegHoldingBuf[DEF_INX_SPPED_RATIO_L]=*usp;
	usRegHoldingBuf[DEF_INX_SPPED_RATIO_H]=*(usp+1);

	for(int i=0;i<DEF_MAX_AXIS;i++)
	{
		usRegHoldingBuf[DEF_INX_TARPOS1+i]=500+i;
		usRegHoldingBuf[DEF_INX_POSVAL1+i]=1000+i;
		usRegHoldingBuf[DEF_INX_VELVAL1+i]=2000+i;
	}
	

	
	myled=1;//stanley
	
    for( ;; )
    {
        //(void)eMBPoll(  ); origianl
		//
		eStatus=eMBPoll();
		
        /* Here we simply count the number of poll cycles. */
        usRegHoldingBuf[DEF_INX_TARGET_POSX]++;
		 
		wait_ms(5);        //stanley
		if(usRegHoldingBuf[DEF_INX_TARGET_POSX]==200)//stanley
		{
			myled=!myled;
			usRegHoldingBuf[DEF_INX_TARGET_POSX]=0;
		}
    }
}

eMBErrorCode
eMBRegInputCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs )
{
    eMBErrorCode    eStatus = MB_ENOERR;
    int             iRegIndex;

    if( ( usAddress >= REG_INPUT_START )
        && ( usAddress + usNRegs <= REG_INPUT_START + REG_INPUT_NREGS ) )
    {
        iRegIndex = ( int )( usAddress - usRegInputStart );
        while( usNRegs > 0 )
        {
            *pucRegBuffer++ =
                ( unsigned char )( usRegInputBuf[iRegIndex] >> 8 );
            *pucRegBuffer++ =
                ( unsigned char )( usRegInputBuf[iRegIndex] & 0xFF );
            iRegIndex++;
            usNRegs--;
        }
    }
    else
    {
        eStatus = MB_ENOREG;
    }

    return eStatus;
}

eMBErrorCode
eMBRegHoldingCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode )  //change variable to REG_HOLDING ,original is all input register
{
    eMBErrorCode    eStatus = MB_ENOERR;
    int             iRegIndex;

    if (eMode == MB_REG_READ)
    {
        if( ( usAddress >= REG_HOLDING_START )
            && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) )
        {
            iRegIndex = ( int )( usAddress - usRegHoldingStart );
            while( usNRegs > 0 )
            {
                *pucRegBuffer++ =
                    ( unsigned char )( usRegHoldingBuf[iRegIndex] >> 8 );
                *pucRegBuffer++ =
                    ( unsigned char )( usRegHoldingBuf[iRegIndex] & 0xFF );
                iRegIndex++;
                usNRegs--;
            }
        }
    }

    if (eMode == MB_REG_WRITE)
    {
        if( ( usAddress >= REG_HOLDING_START )
            && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) )
        {
            iRegIndex = ( int )( usAddress - usRegHoldingStart );
            while( usNRegs > 0 )
            {
                usRegHoldingBuf[iRegIndex] =  ((unsigned int) *pucRegBuffer << 8) | ((unsigned int) *(pucRegBuffer+1));
                pucRegBuffer+=2;
                iRegIndex++;
                usNRegs--;
            }
        }
    }

    return eStatus;
}


eMBErrorCode
eMBRegCoilsCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNCoils,
               eMBRegisterMode eMode )
{
    return MB_ENOREG;
}

eMBErrorCode
eMBRegDiscreteCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNDiscrete )
{
    return MB_ENOREG;
}