437 lines
15 KiB
C
437 lines
15 KiB
C
/**
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**************************************************************************
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* @file modbus_slave.c
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* @brief Модуль для реализации слейв MODBUS.
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**************************************************************************
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* @details
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Файл содержит реализацию функций для работы Modbus в режиме слейва.
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@section Функции и макросы
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- MB_Slave_Response() — Ответ на запрос
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- MB_Slave_Collect_Message() — Сбор сообщения в режиме слейва.
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- MB_Slave_Parse_Message() — Парс сообщения в режиме слейва.
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******************************************************************************/
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#include "modbus.h"
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#ifdef MODBUS_ENABLE_SLAVE
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/**
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* @brief Ответ на сообщение в режиме слейва.
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* @param hmodbus Указатель на хендлер RS.
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* @param modbus_msg Указатель на структуру сообщения.
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* @return RS_RES Статус о результате ответа на комманду.
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*/
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RS_StatusTypeDef MB_Slave_Response(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg)
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{
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RS_StatusTypeDef MB_RES = 0;
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hmodbus->f.MessageHandled = 0;
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hmodbus->f.EchoResponse = 0;
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RS_Reset_TX_Flags(hmodbus); // reset flag for correct transmit
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MB_Diagnostics_BusMessageCnt();
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if(hmodbus->ID == 0 || modbus_msg->MbAddr == 0)
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{
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MB_Diagnostics_SlaveNoResponseCnt(); // <-- Устройство не отвечает на широковещательные сообщения
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hmodbus->RS_STATUS = RS_SKIP;
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return RS_Handle_Receive_Start(hmodbus, modbus_msg);
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}
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MB_Diagnostics_SlaveMessageCnt();
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if(modbus_msg->Func_Code < ERR_VALUES_START)// if no errors after parsing
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{
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switch (modbus_msg->Func_Code)
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{
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// Read Coils
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case MB_R_COILS:
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hmodbus->f.MessageHandled = MB_Process_Read_Coils(hmodbus->pMessagePtr);
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break;
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// Read Hodling Registers
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case MB_R_HOLD_REGS:
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hmodbus->f.MessageHandled = MB_Process_Read_Hold_Regs(hmodbus->pMessagePtr);
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break;
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case MB_R_IN_REGS:
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hmodbus->f.MessageHandled = MB_Process_Read_Input_Regs(hmodbus->pMessagePtr);
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break;
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// Write Single Coils
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case MB_W_COIL:
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hmodbus->f.MessageHandled = MB_Process_Write_Single_Coil(hmodbus->pMessagePtr);
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if(hmodbus->f.MessageHandled)
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{
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hmodbus->f.DataUpdated = 1;
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hmodbus->f.EchoResponse = 1;
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hmodbus->RS_Message_Size -= 2; // echo response if write ok (minus 2 cause of two CRC bytes)
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}
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break;
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case MB_W_HOLD_REG:
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hmodbus->f.MessageHandled = MB_Process_Write_Single_Reg(hmodbus->pMessagePtr);
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if(hmodbus->f.MessageHandled)
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{
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hmodbus->f.DataUpdated = 1;
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hmodbus->f.EchoResponse = 1;
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hmodbus->RS_Message_Size -= 2; // echo response if write ok (minus 2 cause of two CRC bytes)
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}
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break;
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// Write Multiple Coils
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case MB_W_COILS:
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hmodbus->f.MessageHandled = MB_Process_Write_Miltuple_Coils(hmodbus->pMessagePtr);
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if(hmodbus->f.MessageHandled)
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{
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hmodbus->f.DataUpdated = 1;
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hmodbus->f.EchoResponse = 1;
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hmodbus->RS_Message_Size = 6; // echo response if write ok (withous data bytes)
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}
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break;
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// Write Multiple Registers
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case MB_W_HOLD_REGS:
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hmodbus->f.MessageHandled = MB_Process_Write_Miltuple_Regs(hmodbus->pMessagePtr);
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if(hmodbus->f.MessageHandled)
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{
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hmodbus->f.DataUpdated = 1;
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hmodbus->f.EchoResponse = 1;
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hmodbus->RS_Message_Size = 6; // echo response if write ok (withous data bytes)
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}
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break;
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case MB_R_DEVICE_INFO:
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hmodbus->f.MessageHandled = MB_Process_Read_Device_Identifications(hmodbus->pMessagePtr);
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break;
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// Добавить в switch-case после других case:
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case MB_R_DIAGNOSTIC:
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hmodbus->f.MessageHandled = MB_Process_Diagnostics(hmodbus->pMessagePtr);
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break;
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/* unknown func code */
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default:
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modbus_msg->Except_Code = 0x01; /* set exception code: illegal function */
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}
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// Проверяем режим устройства - если Listen Only, не обрабатываем команды
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if (MB_GetDeviceMode() == MODBUS_LISTEN_ONLY_MODE)
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{
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MB_Diagnostics_SlaveNoResponseCnt();
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hmodbus->RS_STATUS = RS_SKIP;
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return RS_Handle_Receive_Start(hmodbus, modbus_msg);;
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}
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// Проверяем статус обработки запроса
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if(hmodbus->f.MessageHandled == 0)
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{
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MB_Diagnostics_ExceptionErrorCnt();
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TrackerCnt_Warn(hmodbus->rs_err);
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modbus_msg->Func_Code |= ERR_VALUES_START;
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}
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else
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{
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TrackerCnt_Ok(hmodbus->rs_err);
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}
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}
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// if we need response - check that transmit isnt busy
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if( RS_Is_TX_Busy(hmodbus) )
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RS_Abort(hmodbus, ABORT_TX); // if tx busy - set it free
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// Transmit right there, or sets (fDeferredResponse) to transmit response in main code
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if(hmodbus->f.DeferredResponse == 0)
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{
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MB_RES = RS_Handle_Transmit_Start(hmodbus, modbus_msg);
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}
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else
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{
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RS_Handle_Receive_Start(hmodbus, modbus_msg);
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hmodbus->f.DeferredResponse = 0;
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}
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hmodbus->RS_STATUS = MB_RES;
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return MB_RES;
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}
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/**
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* @brief Сбор сообщения в буфер UART в режиме слейв (фрейм слейва из msg -> uart).
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* @param hmodbus Указатель на хендлер RS.
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* @param modbus_msg Указатель на структуру сообщения.
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* @param modbus_uart_buff Указатель на буффер UART.
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* @return RS_RES Статус о результате заполнения буфера.
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*/
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RS_StatusTypeDef MB_Slave_Collect_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg, uint8_t *modbus_uart_buff)
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{
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int ind = 0; // ind for modbus-uart buffer
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if(hmodbus->f.EchoResponse && hmodbus->f.MessageHandled) // if echo response need
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ind = hmodbus->RS_Message_Size;
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else
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{
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//------INFO ABOUT DATA/MESSAGE------
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//-----------[first bytes]-----------
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// set ID of message/user
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modbus_uart_buff[ind++] = modbus_msg->MbAddr;
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// set dat or err response
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modbus_uart_buff[ind++] = modbus_msg->Func_Code;
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if (modbus_msg->Func_Code < ERR_VALUES_START) // if no error occur
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{
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// fill modbus header
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if(modbus_msg->Func_Code == MB_R_DEVICE_INFO) // devide identifications header
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{
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modbus_uart_buff[ind++] = modbus_msg->DevId.MEI_Type;
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modbus_uart_buff[ind++] = modbus_msg->DevId.ReadDevId;
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modbus_uart_buff[ind++] = modbus_msg->DevId.Conformity;
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modbus_uart_buff[ind++] = modbus_msg->DevId.MoreFollows;
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modbus_uart_buff[ind++] = modbus_msg->DevId.NextObjId;
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modbus_uart_buff[ind++] = modbus_msg->DevId.NumbOfObj;
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if (modbus_msg->ByteCnt > DATA_SIZE*2) // if ByteCnt less than DATA_SIZE
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{
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TrackerCnt_Err(hmodbus->rs_err);
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return RS_COLLECT_MSG_ERR;
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}
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//---------------DATA----------------
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//-----------[data bytes]------------
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uint8_t *tmp_data_addr = (uint8_t *)modbus_msg->DATA;
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for(int i = 0; i < modbus_msg->ByteCnt; i++) // filling buffer with data
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{ // set data
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modbus_uart_buff[ind++] = *tmp_data_addr;
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tmp_data_addr++;
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}
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}
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else if(modbus_msg->Func_Code == MB_R_DIAGNOSTIC)
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{
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// Diagnostics special format: [SubFunc_HI][SubFunc_LO][Data_HI][Data_LO]
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modbus_uart_buff[ind++] = modbus_msg->DATA[0] >> 8; // Sub-function HI
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modbus_uart_buff[ind++] = modbus_msg->DATA[0] & 0xFF; // Sub-function LO
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modbus_uart_buff[ind++] = modbus_msg->DATA[1] >> 8; // Data HI
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modbus_uart_buff[ind++] = modbus_msg->DATA[1] & 0xFF; // Data LO
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}
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else // modbus data header
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{
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// set size of received data
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if (modbus_msg->ByteCnt <= DATA_SIZE*2) // if ByteCnt less than DATA_SIZE
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modbus_uart_buff[ind++] = modbus_msg->ByteCnt;
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else // otherwise return data_size err
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{
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TrackerCnt_Err(hmodbus->rs_err);
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return RS_COLLECT_MSG_ERR;
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}
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//---------------DATA----------------
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//-----------[data bytes]------------
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uint16_t *tmp_data_addr = (uint16_t *)modbus_msg->DATA;
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for(int i = 0; i < modbus_msg->ByteCnt; i++) // filling buffer with data
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{ // set data
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if (i%2 == 0) // HI byte
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modbus_uart_buff[ind++] = (*tmp_data_addr)>>8;
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else // LO byte
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{
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modbus_uart_buff[ind++] = *tmp_data_addr;
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tmp_data_addr++;
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}
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}
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}
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}
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else // if some error occur
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{ // send expection code
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modbus_uart_buff[ind++] = modbus_msg->Except_Code;
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}
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}
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if(ind < 0)
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return RS_COLLECT_MSG_ERR;
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//---------------CRC----------------
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//---------[last 16 bytes]----------
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// calc crc of received data
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uint16_t CRC_VALUE = crc16(modbus_uart_buff, ind);
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// write crc to message structure and modbus-uart buffer
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modbus_msg->MB_CRC = CRC_VALUE;
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modbus_uart_buff[ind++] = CRC_VALUE;
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modbus_uart_buff[ind++] = CRC_VALUE >> 8;
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hmodbus->RS_Message_Size = ind;
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return RS_OK; // returns ok
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}
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/**
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* @brief Определить размер модбас запроса (СЛЕЙВ версия).
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* @param hRS Указатель на хендлер RS.
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* @param rx_data_size Указатель на переменную для записи кол-ва байт для принятия.
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* @return RS_RES Статус о корректности рассчета кол-ва байт для принятия.
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* @details Определение сколько байтов надо принять по протоколу.
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*/
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static int MB_Define_Size_of_Function(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg)
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{
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RS_StatusTypeDef MB_RES = 0;
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int mb_func_size = 0;
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if (modbus_msg->Func_Code == MB_R_DIAGNOSTIC)
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{
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mb_func_size = 1;
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}
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else if(modbus_msg->Func_Code == MB_R_DEVICE_INFO)
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{
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mb_func_size = 0;
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}
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else if ((modbus_msg->Func_Code & ~ERR_VALUES_START) < 0x0F)
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{
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mb_func_size = 1;
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}
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else
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{
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mb_func_size = modbus_msg->ByteCnt + 2;
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}
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mb_func_size = RX_FIRST_PART_SIZE + mb_func_size; // size of whole message
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return mb_func_size;
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}
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/**
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* @brief Парс сообщения в режиме слейв (фрейм мастера из uart -> msg).
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* @param hmodbus Указатель на хендлер RS.
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* @param modbus_msg Указатель на структуру сообщения.
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* @param modbus_uart_buff Указатель на буффер UART.
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* @return RS_RES Статус о результате заполнения структуры.
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* @details Заполнение структуры сообщения из буффера UART.
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*/
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RS_StatusTypeDef MB_Slave_Parse_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg, uint8_t *modbus_uart_buff)
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{
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uint32_t check_empty_buff;
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int ind = 0; // ind for modbus-uart buffer
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hmodbus->f.RX_Continue = 0;
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int expected_size = 0;
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//-----INFO ABOUT DATA/MESSAGE-------
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//-----------[first bits]------------
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// get ID of message/user
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if(modbus_uart_buff[ind] != hmodbus->ID)
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{
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modbus_msg->MbAddr = 0;
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ind++;
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}
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else
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{
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modbus_msg->MbAddr = modbus_uart_buff[ind++];
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}
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// get func code
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modbus_msg->Func_Code = modbus_uart_buff[ind++];
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if(modbus_msg->Func_Code & ERR_VALUES_START) // явная херня
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{
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MB_Diagnostics_SlaveNAKCnt();
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modbus_msg->MbAddr = 0;
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return RS_SKIP;
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}
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if(modbus_msg->Func_Code == MB_R_DEVICE_INFO) // if it device identifications request
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{
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modbus_msg->DevId.MEI_Type = modbus_uart_buff[ind++];
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modbus_msg->DevId.ReadDevId = modbus_uart_buff[ind++];
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modbus_msg->DevId.NextObjId = modbus_uart_buff[ind++];
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modbus_msg->ByteCnt = 0;
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}
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else if(modbus_msg->Func_Code == MB_R_DIAGNOSTIC)
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{
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// Diagnostics: читаем 4 байта в DATA[0] и DATA[1]
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// Sub-function
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modbus_msg->DATA[0] = modbus_uart_buff[ind++] << 8;
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modbus_msg->DATA[0] |= modbus_uart_buff[ind++];
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// Data
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modbus_msg->DATA[1] = modbus_uart_buff[ind++] << 8;
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modbus_msg->DATA[1] |= modbus_uart_buff[ind++];
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modbus_msg->Addr = 0; // не использует Addr
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modbus_msg->Qnt = 0; // не использует Qnt
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}
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else // if its classic modbus request
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{
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// get address from CMD
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modbus_msg->Addr = modbus_uart_buff[ind++] << 8;
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modbus_msg->Addr |= modbus_uart_buff[ind++];
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// get address from CMD
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modbus_msg->Qnt = modbus_uart_buff[ind++] << 8;
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modbus_msg->Qnt |= modbus_uart_buff[ind++];
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}
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if((hmodbus->pMessagePtr->Func_Code == 0x0F) || (hmodbus->pMessagePtr->Func_Code == 0x10))
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hmodbus->pMessagePtr->ByteCnt = modbus_uart_buff[ind++];
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else
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hmodbus->pMessagePtr->ByteCnt = 0;
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expected_size = MB_Define_Size_of_Function(hmodbus, modbus_msg);
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// если размер меньше ожидаемого - продолжаем принимать
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if(hmodbus->RS_Message_Size < expected_size)
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{
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hmodbus->f.RX_Continue = 1;
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return RS_SKIP;
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}
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// если больше Ошибка
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else if (hmodbus->RS_Message_Size > expected_size)
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{
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MB_Diagnostics_CommunicationErrorCnt();
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return RS_PARSE_MSG_ERR;
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}
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//---------------DATA----------------
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// (optional)
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if (modbus_msg->ByteCnt != 0)
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{
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//check that data size is correct
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if (modbus_msg->ByteCnt > DATA_SIZE*2)
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{
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TrackerCnt_Err(hmodbus->rs_err);
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modbus_msg->Func_Code |= ERR_VALUES_START;
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MB_Diagnostics_CommunicationErrorCnt();
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return RS_PARSE_MSG_ERR;
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}
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uint16_t *tmp_data_addr = (uint16_t *)modbus_msg->DATA;
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for(int i = 0; i < modbus_msg->ByteCnt; i++)
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{ // set data
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if (i%2 == 0)
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*tmp_data_addr = ((uint16_t)modbus_uart_buff[ind++] << 8);
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else
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{
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*tmp_data_addr |= modbus_uart_buff[ind++];
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tmp_data_addr++;
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}
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}
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}
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//---------------CRC----------------
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//----------[last 16 bits]----------
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// calc crc of received data
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uint16_t CRC_VALUE = crc16(modbus_uart_buff, ind);
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// get crc of received data
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modbus_msg->MB_CRC = modbus_uart_buff[ind++];
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modbus_msg->MB_CRC |= modbus_uart_buff[ind++] << 8;
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// compare crc
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if (modbus_msg->MB_CRC != CRC_VALUE)
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{
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MB_Diagnostics_CommunicationErrorCnt();
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TrackerCnt_Err(hmodbus->rs_err);
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modbus_msg->Func_Code |= ERR_VALUES_START;
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}
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return RS_OK;
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}
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#else // MODBUS_ENABLE_SLAVE
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RS_StatusTypeDef MB_Slave_Response(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg) {return RS_ERR;}
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RS_StatusTypeDef MB_Slave_Collect_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg, uint8_t *modbus_uart_buff) {return RS_ERR;}
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RS_StatusTypeDef MB_Slave_Parse_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg, uint8_t *modbus_uart_buff) {return RS_ERR;}
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#endif |