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OpenPLC_Editor/editor/arduino/examples/Baremetal/ModbusSlave.h

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/*
ModbusSlave.h - Header for Modbus Slave Library
Copyright (C) 2022 OpenPLC - Thiago Alves
*/
#ifndef MODBUSSLAVE_H
#define MODBUSSLAVE_H
#include <Arduino.h>
#include "defines.h"
#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
//#define bitSet(value, bit) ((value) |= (1UL << (bit)))
//#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
#define COILS 0
#define INPUTSTATUS 1
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega32U4__) || defined(__AVR_ATmega16U4__)
#define MAX_MB_FRAME 128
#else
#define MAX_MB_FRAME 256
#endif
#define MAX_SRV_CLIENTS 3 //how many clients should be able to connect to TCP server at the same time
#define MBAP_SIZE 6
//Platform specific defines and includes
#ifdef MBTCP_ETHERNET
#include <SPI.h>
#include <Ethernet.h>
#endif
#ifdef MBTCP_WIFI
#if defined(BOARD_ESP8266)
#include <ESP8266WiFi.h>
#elif defined(BOARD_ESP32)
#include <WiFi.h>
#elif defined(BOARD_WIFININA)
#include <WiFiNINA.h>
#else
#include <SPI.h>
#include <WiFi.h>
#endif
#endif
#if defined(CONTROLLINO_MAXI) || defined(CONTROLLINO_MEGA)
#include "Controllino.h"
#endif
// Debugger functions
extern "C" uint16_t get_var_count(void);
extern "C" size_t get_var_size(size_t);// {return 0;}
extern "C" void *get_var_addr(size_t);// {return 0;}
extern "C" void force_var(size_t, bool, void *);// {}
extern "C" void set_trace(size_t, bool, void *);// {}
extern "C" void trace_reset(void);// {}
extern "C" void set_endianness(uint8_t value);
extern uint32_t __tick;
#define MB_DEBUG_SUCCESS 0x7E
#define MB_DEBUG_ERROR_OUT_OF_BOUNDS 0x81
#define MB_DEBUG_ERROR_OUT_OF_MEMORY 0x82
#define SAME_ENDIANNESS 0
#define REVERSE_ENDIANNESS 1
//Modbus registers struct
struct MBinfo {
uint8_t slaveid;
uint16_t *holding;
uint8_t holding_size;
uint8_t *coils;
uint8_t coils_size;
uint16_t *input_regs;
uint8_t input_regs_size;
uint8_t *input_status;
uint8_t input_status_size;
};
//Function Codes
enum {
MB_FC_READ_COILS = 0x01, // Read Coils (Output) Status 0xxxx
MB_FC_READ_INPUT_STAT = 0x02, // Read Input Status (Discrete Inputs) 1xxxx
MB_FC_READ_REGS = 0x03, // Read Holding Registers 4xxxx
MB_FC_READ_INPUT_REGS = 0x04, // Read Input Registers 3xxxx
MB_FC_WRITE_COIL = 0x05, // Write Single Coil (Output) 0xxxx
MB_FC_WRITE_REG = 0x06, // Preset Single Register 4xxxx
MB_FC_WRITE_COILS = 0x0F, // Write Multiple Coils (Outputs) 0xxxx
MB_FC_WRITE_REGS = 0x10, // Write block of contiguous registers 4xxxx
MB_FC_DEBUG_INFO = 0x41, // Request debug variables count
MB_FC_DEBUG_SET = 0x42, // Debug set trace (force variable)
MB_FC_DEBUG_GET = 0x43, // Debug get trace (read variables)
MB_FC_DEBUG_GET_LIST = 0x44, // Debug get trace list (read list of variables)
MB_FC_DEBUG_GET_MD5 = 0x45, // Debug get current program MD5
};
//Exception Codes
enum {
MB_EX_ILLEGAL_FUNCTION = 0x01, // Function Code not Supported
MB_EX_ILLEGAL_ADDRESS = 0x02, // Output Address not exists
MB_EX_ILLEGAL_VALUE = 0x03, // Output Value not in Range
MB_EX_SLAVE_FAILURE = 0x04, // Slave Device Fails to process request
};
//Global Modbus vars
extern struct MBinfo modbus;
extern uint8_t mb_frame[MAX_MB_FRAME];
extern uint16_t mb_frame_len;
extern Stream* mb_serialport;
extern int8_t mb_txpin;
extern uint16_t mb_t15; // inter character time out
extern uint16_t mb_t35; // frame delay
#ifdef MBTCP_ETHERNET
extern EthernetServer mb_server;
extern uint8_t mb_mbap[MBAP_SIZE];
#ifdef BOARD_PORTENTA
extern EthernetClient mb_serverClients[MAX_SRV_CLIENTS];
#endif
#endif
#ifdef MBTCP_WIFI
extern WiFiServer mb_server;
extern uint8_t mb_mbap[MBAP_SIZE];
#if defined(BOARD_ESP8266) || defined(BOARD_ESP32) || defined(BOARD_PORTENTA)
extern WiFiClient mb_serverClients[MAX_SRV_CLIENTS];
#endif
#endif
bool init_mbregs(uint8_t size_holding, uint8_t size_coils, uint8_t input_regs, uint8_t input_status);
bool get_discrete(uint16_t addr, bool regtype);
void write_discrete(uint16_t addr, bool regtype, bool value);
void mbconfig_serial_iface(HardwareSerial* port, long baud, int txPin);
#ifdef MBTCP
void mbconfig_ethernet_iface(uint8_t *mac, uint8_t *ip, uint8_t *dns, uint8_t *gateway, uint8_t *subnet);
#endif
void mbtask();
#ifdef MBTCP
void handle_tcp();
#endif
#ifdef MBSERIAL
void handle_serial();
#endif
void process_mbpacket();
uint16_t calcCrc();
//Modbus handling functions
void readRegisters(uint16_t startreg, uint16_t numregs);
void writeSingleRegister(uint16_t reg, uint16_t value);
void writeMultipleRegisters(uint16_t startreg, uint16_t numoutputs, uint8_t bytecount);
void exceptionResponse(uint16_t fcode, uint16_t excode);
void readCoils(uint16_t startreg, uint16_t numregs);
void readInputStatus(uint16_t startreg, uint16_t numregs);
void readInputRegisters(uint16_t startreg, uint16_t numregs);
void writeSingleCoil(uint16_t reg, uint16_t status);
void writeMultipleCoils(uint16_t startreg, uint16_t numoutputs, uint16_t bytecount);
void debugInfo(void);
void debugSetTrace(uint16_t varidx, uint8_t flag, uint16_t len, void *value);
void debugGetTrace(uint16_t startidx, uint16_t endidx);
void debugGetTraceList(uint16_t numIndexes, uint8_t *indexArray);
void debugGetMd5(void *endianness);
/* Table of CRC values for high-order byte */
const byte _auchCRCHi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40};
/* Table of CRC values for low-order byte */
const byte _auchCRCLo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
0x40};
#endif
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