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Cleanup and additional comments
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@mbs38
mbs38 committed Dec 3, 2016
1 parent 1dc2e34 commit 012cb58
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Showing 2 changed files with 115 additions and 76 deletions.
189 changes: 114 additions & 75 deletions yaMBSiavr.c
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Original file line number Diff line number Diff line change
Expand Up @@ -36,36 +36,43 @@ volatile uint16_t DataPos = 0;
volatile unsigned char PacketTopIndex = 7;
volatile unsigned char modBusStaMaStates = 0;

uint8_t modbusGetBusState(void) {
uint8_t modbusGetBusState(void)
{
return BusState;
}

#if ADDRESS_MODE == SINGLE_ADR
volatile unsigned char Address = 0x00;
uint8_t modbusGetAddress(void) {
uint8_t modbusGetAddress(void)
{
return Address;
}

void modbusSetAddress(unsigned char newadr) {
void modbusSetAddress(unsigned char newadr)
{
Address = newadr;
}
#endif

#if PHYSICAL_TYPE == 485
void transceiver_txen(void) {
void transceiver_txen(void)
{
TRANSCEIVER_ENABLE_PORT|=(1<<TRANSCEIVER_ENABLE_PIN);
}
}

void transceiver_rxen(void) {
void transceiver_rxen(void)
{
TRANSCEIVER_ENABLE_PORT&=~(1<<TRANSCEIVER_ENABLE_PIN);
}
}
#endif

/* A fairly simple Modbus compliant 16 Bit CRC algorithm.
* Returns 1 if the crc check is positive, returns 0 if it fails.
* Appends
/* @brief: A fairly simple Modbus compliant 16 Bit CRC algorithm.
*
* Returns 1 if the crc check is positive, returns 0 and saves the calculated CRC bytes
* at the end of the data array if it fails.
*
*/
uint16_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize) //A standard CRC algorithm
uint8_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize) //A standard CRC algorithm
{
uint16_t out=0xffff;
uint16_t carry;
Expand All @@ -90,76 +97,87 @@ uint16_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize) //A standard CRC
}
}

/* @brief: copies a single or multiple words from one array of bytes to another array of bytes
* amount must not be bigger than 255...
*
*/
void listRegisterCopy(volatile uint8_t *source, volatile uint8_t *target, uint8_t amount) {
for (uint8_t c=0; c<amount; c++)
{
*(target+c)=*(source+c);
}
}

/* @brief: copies a single bit from one char to another char (or arrays thereof)
*
*
*/
void listBitCopy(volatile uint8_t *source, uint16_t sourceNr,volatile uint8_t *target, uint16_t targetNr) {
if(*(source+(sourceNr/8))&(1<<(sourceNr-((sourceNr/8)*8))))
{
*(target+(targetNr/8))|=(1<<(targetNr-((targetNr/8)*8)));
} else *(target+(targetNr/8))&=~(1<<(targetNr-((targetNr/8)*8)));
/* @brief: copies a single or multiple words from one array of bytes to another array of bytes
* amount must not be bigger than 255...
*
*/
void listRegisterCopy(volatile uint8_t *source, volatile uint8_t *target, uint8_t amount)
{
for (uint8_t c=0; c<amount; c++)
{
*(target+c)=*(source+c);
}
}

void modbusReset(void) {
/* @brief: copies a single bit from one char to another char (or arrays thereof)
*
*
*/
void listBitCopy(volatile uint8_t *source, uint16_t sourceNr,volatile uint8_t *target, uint16_t targetNr)
{
if(*(source+(sourceNr/8))&(1<<(sourceNr-((sourceNr/8)*8))))
{
*(target+(targetNr/8))|=(1<<(targetNr-((targetNr/8)*8)));
} else *(target+(targetNr/8))&=~(1<<(targetNr-((targetNr/8)*8)));
}

/* @brief: Back to receiving state.
*
*/
void modbusReset(void)
{
BusState=(1<<TimerActive); //stop receiving (error)
modbusTimer=0;
}

void modbusTickTimer(void) {
if (BusState&(1<<TimerActive)) {
void modbusTickTimer(void)
{
if (BusState&(1<<TimerActive))
{
modbusTimer++;
if (BusState&(1<<Receiving)) //we are in receiving mode
{
if ((modbusTimer==modbusInterCharTimeout)) {
BusState|=(1<<GapDetected);
} else if ((modbusTimer==modbusInterFrameDelayReceiveEnd)) { //end of message
} else if ((modbusTimer==modbusInterFrameDelayReceiveEnd)) { //end of essage
BusState=(1<<ReceiveCompleted);
#if ADDRESS_MODE == MULTIPLE_ADR
if (crc16(rxbuffer,DataPos-3)) { //perform crc check only. This is for multiple/all address mode.
//BusState=(1<<ReceiveCompleted);
} else modbusReset();
#endif
#if ADDRESS_MODE == SINGLE_ADR
if (rxbuffer[0]==Address && crc16(rxbuffer,DataPos-3)) { //is the message for us? => perform crc check
//BusState=(1<<ReceiveCompleted);
} else modbusReset();
#endif

}
} else if (modbusTimer==modbusInterFrameDelayReceiveStart) BusState|=(1<<BusTimedOut);
}
}

ISR(UART_RECEIVE_INTERRUPT) {
ISR(UART_RECEIVE_INTERRUPT)
{
unsigned char data;
data = UART_DATA;
modbusTimer=0; //reset timer
if (!(BusState & (1<<ReceiveCompleted)) && !(BusState & (1<<TransmitRequested)) && !(BusState & (1<<Transmitting)) && (BusState & (1<<Receiving)) && !(BusState & (1<<BusTimedOut))) { // //
if (!(BusState & (1<<ReceiveCompleted)) && !(BusState & (1<<TransmitRequested)) && !(BusState & (1<<Transmitting)) && (BusState & (1<<Receiving)) && !(BusState & (1<<BusTimedOut)))
{
if (DataPos>MaxFrameIndex) modbusReset();
else {
else
{
rxbuffer[DataPos]=data;
DataPos++; //TODO: maybe prevent this from exceeding 255?
}
} else if (!(BusState & (1<<ReceiveCompleted)) && !(BusState & (1<<TransmitRequested)) && !(BusState & (1<<Transmitting)) && !(BusState & (1<<Receiving)) && (BusState & (1<<BusTimedOut))) { //) {
rxbuffer[0]=data;
BusState=((1<<Receiving)|(1<<TimerActive));
DataPos=1;
}
} else
if (!(BusState & (1<<ReceiveCompleted)) && !(BusState & (1<<TransmitRequested)) && !(BusState & (1<<Transmitting)) && !(BusState & (1<<Receiving)) && (BusState & (1<<BusTimedOut)))
{
rxbuffer[0]=data;
BusState=((1<<Receiving)|(1<<TimerActive));
DataPos=1;
}
}

ISR(UART_TRANSMIT_INTERRUPT) {
ISR(UART_TRANSMIT_INTERRUPT)
{
BusState&=~(1<<TransmitRequested);
BusState|=(1<<Transmitting);
UART_DATA=rxbuffer[DataPos];
Expand All @@ -169,7 +187,8 @@ ISR(UART_TRANSMIT_INTERRUPT) {
}
}

ISR(UART_TRANSMIT_COMPLETE_INTERRUPT) { //Sobald Stopbit übertragen wurde RS485-Transceiver wieder auf empfangen umstellen
ISR(UART_TRANSMIT_COMPLETE_INTERRUPT)
{
#if PHYSICAL_TYPE == 485
transceiver_rxen();
#endif
Expand All @@ -196,9 +215,10 @@ void modbusInit(void)
* Arguments: - packtop: Position of the last byte containing data.
* modbusSendException is a good usage example.
*/
void modbusSendMessage(unsigned char packtop) {
PacketTopIndex=packtop+2; //diff: +2
crc16(rxbuffer,packtop); //diff: alt: -1, neu +1
void modbusSendMessage(unsigned char packtop)
{
PacketTopIndex=packtop+2;
crc16(rxbuffer,packtop);
BusState|=(1<<TransmitRequested);
DataPos=0;
#if PHYSICAL_TYPE == 485
Expand All @@ -208,41 +228,56 @@ void modbusSendMessage(unsigned char packtop) {
BusState&=~(1<<ReceiveCompleted);
}

void modbusSendException(unsigned char exceptionCode) {
/* @brief: Sends an exception response.
*
* Arguments: - exceptionCode
*
*/
void modbusSendException(unsigned char exceptionCode)
{
rxbuffer[1]|=(1<<7); //setting MSB of the function code (the exception flag)
rxbuffer[2]=exceptionCode; //Exceptioncode. Also the last byte containing data
modbusSendMessage(2);
}

uint16_t modbusRequestedAmount(void) {

/* @brief: Returns the amount of requested data objects (coils, discretes, registers)
*
*/
uint16_t modbusRequestedAmount(void)
{
return (rxbuffer[5]|(rxbuffer[4]<<8));
}

uint16_t modbusRequestedAddress(void) {
/* @brief: Returns the address of the first requested data object (coils, discretes, registers)
*
*/
uint16_t modbusRequestedAddress(void)
{
return (rxbuffer[3]|(rxbuffer[2]<<8));
}

/* @brief: copies a single or multiple bytes from one array of bytes to an array of 16-bit-words
*
*
/* @brief: copies a single or multiple bytes from one array of bytes to an array of 16-bit-words
*
*/
void intToModbusRegister(volatile uint16_t *inreg, volatile uint8_t *outreg, uint8_t amount) {
for (uint8_t c=0; c<amount; c++)
{
*(outreg+c*2) = (uint8_t)(*(inreg+c) >> 8);
*(outreg+1+c*2) = (uint8_t)(*(inreg+c));
}
void intToModbusRegister(volatile uint16_t *inreg, volatile uint8_t *outreg, uint8_t amount)
{
for (uint8_t c=0; c<amount; c++)
{
*(outreg+c*2) = (uint8_t)(*(inreg+c) >> 8);
*(outreg+1+c*2) = (uint8_t)(*(inreg+c));
}
}

/* @brief: copies a single or multiple 16-bit-words from one array of integers to an array of bytes
*
*
/* @brief: copies a single or multiple 16-bit-words from one array of integers to an array of bytes
*
*/
void modbusRegisterToInt(volatile uint8_t *inreg, volatile uint16_t *outreg, uint8_t amount) {
for (uint8_t c=0; c<amount; c++)
{
*(outreg+c) = (*(inreg+c*2) << 8) + *(inreg+1+c*2);
}
void modbusRegisterToInt(volatile uint8_t *inreg, volatile uint16_t *outreg, uint8_t amount)
{
for (uint8_t c=0; c<amount; c++)
{
*(outreg+c) = (*(inreg+c*2) << 8) + *(inreg+1+c*2);
}
}

/* @brief: Handles single/multiple register reading and single/multiple register writing.
Expand All @@ -252,7 +287,8 @@ void modbusRegisterToInt(volatile uint8_t *inreg, volatile uint16_t *outreg, uin
* - size: input array size in the requested format (16bit-registers)
*
*/
uint8_t modbusExchangeRegisters(volatile uint16_t *ptrToInArray, uint16_t startAddress, uint16_t size) {
uint8_t modbusExchangeRegisters(volatile uint16_t *ptrToInArray, uint16_t startAddress, uint16_t size)
{
uint16_t requestedAmount = modbusRequestedAmount();
uint16_t requestedAdr = modbusRequestedAddress();
if (rxbuffer[1]==fcPresetSingleRegister) requestedAmount=1;
Expand Down Expand Up @@ -298,11 +334,13 @@ uint8_t modbusExchangeRegisters(volatile uint16_t *ptrToInArray, uint16_t startA
* - size: input array size in the requested format (bits)
*
*/
uint8_t modbusExchangeBits(volatile uint8_t *ptrToInArray, uint16_t startAddress, uint16_t size) {
uint8_t modbusExchangeBits(volatile uint8_t *ptrToInArray, uint16_t startAddress, uint16_t size)
{
uint16_t requestedAmount = modbusRequestedAmount();
uint16_t requestedAdr = modbusRequestedAddress();
if (rxbuffer[1]==fcForceSingleCoil) requestedAmount=1;
if ((requestedAdr>=startAddress) && ((startAddress+size)>=(requestedAmount+requestedAdr))) {
if ((requestedAdr>=startAddress) && ((startAddress+size)>=(requestedAmount+requestedAdr)))
{
if ((rxbuffer[1]==fcReadInputStatus) || (rxbuffer[1]==fcReadCoilStatus))
{
if (requestedAmount<=((MaxFrameIndex-4)*8)) //message buffer big enough?
Expand Down Expand Up @@ -340,7 +378,8 @@ uint8_t modbusExchangeBits(volatile uint8_t *ptrToInArray, uint16_t startAddress
}
//modbusSendException(ecSlaveDeviceFailure); //inanpropriate call of modbusExchangeBits
return 0;
} else {
} else
{
modbusSendException(ecIllegalDataValue);
return 0;
}
Expand Down
2 changes: 1 addition & 1 deletion yaMBSiavr.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -286,7 +286,7 @@ extern uint16_t modbusRequestedAddress(void);
* Returns 1 if the crc check is positive, returns 0 if it fails.
* Appends two crc bytes to the array.
*/
extern uint16_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize);
extern uint8_t crc16(volatile uint8_t *ptrToArray,uint8_t inputSize);

/* @brief: Handles single/multiple input/coil reading and single/multiple coil writing.
*
Expand Down

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