From 87161dff2e861be116da1207e909cd260c189854 Mon Sep 17 00:00:00 2001 From: Max Brueggemann Date: Mon, 22 Feb 2016 15:20:16 +0100 Subject: [PATCH] cleanup --- LICENSE | 340 +++++++++++++++++++++++++++++++++++++++++++++ README | 4 + example/README | 1 + example/example.c | 142 +++++++++++++++++++ yaMBSiavr.c | 346 ++++++++++++++++++++++++++++++++++++++++++++++ yaMBSiavr.h | 307 ++++++++++++++++++++++++++++++++++++++++ 6 files changed, 1140 insertions(+) create mode 100644 LICENSE create mode 100644 README create mode 100644 example/README create mode 100644 example/example.c create mode 100644 yaMBSiavr.c create mode 100644 yaMBSiavr.h diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..8cdb845 --- /dev/null +++ b/LICENSE @@ -0,0 +1,340 @@ + GNU GENERAL PUBLIC LICENSE + Version 2, June 1991 + + Copyright (C) 1989, 1991 Free Software Foundation, Inc., + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The licenses for most software are designed to take away your +freedom to share and change it. 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If this is what you want to do, use the GNU Lesser General +Public License instead of this License. + diff --git a/README b/README new file mode 100644 index 0000000..ad15546 --- /dev/null +++ b/README @@ -0,0 +1,4 @@ +A rather small Modbus server/slave implementation for AVR mikrocontrollers. With +this library very simple devices can be realized in less than 1500 bytes of flash. +Although already in use in a couple of places, please consider this to be work in +progress. diff --git a/example/README b/example/README new file mode 100644 index 0000000..85f0092 --- /dev/null +++ b/example/README @@ -0,0 +1 @@ +Use this example to test the basic features of the library. See example.c for further info. diff --git a/example/example.c b/example/example.c new file mode 100644 index 0000000..06ae992 --- /dev/null +++ b/example/example.c @@ -0,0 +1,142 @@ +/* + * Created: 04.02.2016 + * Author: Max Brueggemann + */ + +/* +* An example project implementing a simple modbus slave device using an +* ATmega88PA running at 20MHz. +* Baudrate: 38400, 8 data bits, 1 stop bit, no parity +* Your busmaster can read/write the following data: +* coils: 0 to 7 +* discrete inputs: 0 to 7 +* input registers: 0 to 3 +* holding registers: 0 to 3 +*/ + +#define clientAddress 0x01 + +#include +#include +#include +#define F_CPU 20000000 +#include "yaMBSiavr.h" + +volatile uint8_t instate = 0; +volatile uint8_t outstate = 0; +volatile uint16_t inputRegisters[4]; +volatile uint16_t holdingRegisters[4]; + +void timer0100us_start(void) { + TCCR0B|=(1<>2)); + in=~in; + PORTB&= ~(((in & (1<<0))<<2) | ((in & (1<<1))) | ((in & (1<<2))>>2)); + PORTD&= ~(((in & (1<<3))<<4) | ((in & (1<<4))<<1) | ((in & (1<<5))<<1)); +} + +uint8_t ReadIns(void) { + uint8_t ins=0x00; + ins|=(PINC&((1<<0)|(1<<1)|(1<<2)|(1<<3)|(1<<4)|(1<<5))); + ins|=(((PIND&(1<<4))<<2)|((PIND&(1<<3))<<4)); + return ins; +} + +void io_conf(void) { + /* + Outputs: PB2,PB1,PB0,PD7,PD5,PD6 + Inputs: PC0, PC1, PC2, PC3, PC4, PC6, PD4, PD3 + */ + DDRD=0x00; + DDRB=0x00; + DDRC=0x00; + PORTD=0x00; + PORTB=0x00; + PORTC=0x00; + PORTD|=(1<<0); + DDRD |= (1<<2)|(1<<5)|(1<<6)|(1<<7); + DDRB |= (1<<0)|(1<<1)|(1<<2)|(1<<3); +} + +ISR(TIMER0_OVF_vect) { //this ISR is called 9765.625 times per second + modbusTickTimer(); +} + +void modbusGet(void) { + if (modbusGetBusState() & (1< +#include "yaMBSiavr.h" +#include + +volatile unsigned char BusState = 0; +volatile uint16_t modbusTimer = 0; +volatile unsigned char rxbuffer[MaxFrameIndex+1]; +volatile uint16_t DataPos = 0; +volatile unsigned char PacketTopIndex = 7; +volatile unsigned char modBusStaMaStates = 0; + +uint8_t modbusGetBusState(void) { + return BusState; +} + +#if ADDRESS_MODE == SINGLE_ADR +volatile unsigned char Address = 0x00; +uint8_t modbusGetAddress(void) { + return Address; +} + +void modbusSetAddress(unsigned char newadr) { + Address = newadr; +} +#endif + +#if PHYSICAL_TYPE == 485 + void transceiver_txen(void) { + TRANSCEIVER_ENABLE_PORT|=(1<>= 1; + if (carry) out ^= 0xA001; + } + } + //out=0x1234; + if ((ptrToArray[inputSize]==out%256) && (ptrToArray[inputSize+1]==out/256)) //check + { + return 1; + } else { + ptrToArray[inputSize]=out%256; //append Lo + ptrToArray[inputSize+1]=out/256; //append Hi + return 0; + } +} + +/* @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 perform crc check + BusState=(1<MaxFrameIndex) modbusReset(); + else { + rxbuffer[DataPos]=data; + DataPos++; //TODO: maybe prevent this from exceeding 255? + } + } else if (!(BusState & (1<>8); + UBRRL = (unsigned char)Baud; + UART_CONTROL = (1<> 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 +* +* +*/ +void modbusRegisterToInt(volatile uint8_t *inreg, volatile uint16_t *outreg, uint8_t amount) { + for (uint8_t c=0; c=startAddress) && ((startAddress+size)>=(requestedAmount+requestedAdr))) { + + if ((rxbuffer[1]==fcReadHoldingRegisters) || (rxbuffer[1]==fcReadInputRegisters) ) + { + if ((requestedAmount*2)<=(MaxFrameIndex-4)) //message buffer big enough? + { + rxbuffer[2]=(unsigned char)(requestedAmount*2); + intToModbusRegister(ptrToInArray+(unsigned char)(requestedAdr-startAddress),rxbuffer+3,rxbuffer[2]); + modbusSendMessage(2+rxbuffer[2]); + return 1; + } else modbusSendException(ecIllegalDataValue); + } + else if (rxbuffer[1]==fcPresetMultipleRegisters) + { + if (((rxbuffer[6]*2)>=requestedAmount) && ((DataPos-9)==rxbuffer[6])) //enough data received? + { + modbusRegisterToInt(rxbuffer+7,ptrToInArray+(unsigned char)(requestedAdr-startAddress),(unsigned char)(requestedAmount)); + modbusSendMessage(5); + return 1; + } else modbusSendException(ecIllegalDataValue);//too few data bytes received + } + else if (rxbuffer[1]==fcPresetSingleRegister) + { + modbusRegisterToInt(rxbuffer+4,ptrToInArray+(unsigned char)(requestedAdr-startAddress),1); + modbusSendMessage(5); + return 1; + } + //modbusSendException(ecSlaveDeviceFailure); //inanpropriate call of modbusExchangeRegisters + return 0; + } else { + modbusSendException(ecIllegalDataValue); + return 0; + } +} + +/* @brief: Handles single/multiple input/coil reading and single/multiple coil writing. +* +* Arguments: - ptrToInArray: pointer to the user's data array containing bits +* - startAddress: address of the first bit in the supplied array +* - size: input array size in the requested format (bits) +* +*/ +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 ((rxbuffer[1]==fcReadInputStatus) || (rxbuffer[1]==fcReadCoilStatus)) + { + if (requestedAmount<=((MaxFrameIndex-4)*8)) //message buffer big enough? + { + rxbuffer[2]=(requestedAmount/8); + if (requestedAmount%8>0) + { + rxbuffer[(uint8_t)(requestedAmount/8)+3]=0x00; //fill last data byte with zeros + rxbuffer[2]++; + } + for (uint16_t c = 0; c=requestedAmount) && ((DataPos-9)==rxbuffer[6])) //enough data received? + { + for (uint16_t c = 0; c @endcode + * + * @brief Interrupt-based Modbus implementation for small avr microcontrollers. + * The Modbus implementation guidelines at modbus.org call for response + * timeouts in the range of several seconds , hence only timing critical + * parts have been implemented within ISRs. The actual handling of the Modbus + * frame can easily be done in the main while loop. + * + * @author Max Brueggemann www.maxbrueggemann.de + */ + +/* +* Definitions for transceiver enable pin. +*/ +#define TRANSCEIVER_ENABLE_PORT PORTD +#define TRANSCEIVER_ENABLE_PIN 2 +#define TRANSCEIVER_ENABLE_PORT_DDR DDRD + +/** + * @brief + * At the moment the user has to set the value for Baudrate and + * speed mode manually. The values depend on the operating frequency + * of your AVR and can be found in its datasheet. + */ +#if defined(__AVR_ATtiny2313__) +#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TX_vect +#define UART_RECEIVE_INTERRUPT USART_RX_vect +#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect +#define UART_STATUS UCSRA +#define UART_CONTROL UCSRB +#define UART_DATA UDR +#define UART_UDRIE UDRIE +/* + * Change this value if you are using a different frequency and/or + * different baudrate. +*/ +#define Baud 25 //38400@16e6Hz + +#elif defined(__AVR_ATmega164P__) +#define UART_TRANSMIT_COMPLETE_INTERRUPT USART1_TX_vect +#define UART_RECEIVE_INTERRUPT USART1_RX_vect +#define UART_TRANSMIT_INTERRUPT USART1_UDRE_vect +#define UART_STATUS UCSR1A +#define UART_CONTROL UCSR1B +#define UART_DATA UDR1 +#define UART_UDRIE UDRIE1 +#define UCSRC UCSR1C +#define RXCIE RXCIE1 +#define TXCIE TXCIE1 +#define RXEN RXEN1 +#define TXEN TXEN1 +#define UCSZ0 UCSZ10 +#define U2X U2X1 +#define UBRRH UBRR1H +#define UBRRL UBRR1L +/* + * Change this value if you are using a different frequency and/or + * different baudrate. +*/ +#define Baud 64 //38400@20e6Hz + +#elif defined(__AVR_ATmega168PA__)|(__AVR_ATmega88PA__)|(__AVR_ATmega328PA__) +#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TX_vect +#define UART_RECEIVE_INTERRUPT USART_RX_vect +#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect +#define UART_STATUS UCSR0A +#define UART_CONTROL UCSR0B +#define UART_DATA UDR0 +#define UART_UDRIE UDRIE0 +#define UCSRC UCSR0C +#define RXCIE RXCIE0 +#define TXCIE TXCIE0 +#define RXEN RXEN0 +#define TXEN TXEN0 +#define UCSZ0 UCSZ00 +#define U2X U2X0 +#define UBRRH UBRR0H +#define UBRRL UBRR0L +/* + * Change this value if you are using a different frequency and/or + * different baudrate. +*/ +#define Baud 64 //38400@20e6Hz + + +#elif defined(__AVR_ATmega8__)|| defined(__AVR_ATmega16__) || defined(__AVR_ATmega32__) || defined(__AVR_ATmega323__) +#define UART_TRANSMIT_COMPLETE_INTERRUPT USART_TXC_vect +#define UART_RECEIVE_INTERRUPT USART_RXC_vect +#define UART_TRANSMIT_INTERRUPT USART_UDRE_vect +#define UART_STATUS UCSRA +#define UART_CONTROL UCSRB +#define UART_DATA UDR +#define UART_UDRIE UDRIE + +/* + * Change this value if you are using a different frequency and/or + * different baudrate. +*/ +#define Baud 25 //38400@8e6Hz double speed mode + + +#else +#error "no definition available" +#endif + +/* + * Available address modes. +*/ +#define MULTIPLE_ADR 2 +#define SINGLE_ADR 1 + +/* +* Use SINGLE_ADR or MULTIPLE_ADR, default: SINGLE_ADR +* This is useful for building gateways, routers or clients that for whatever reason need multiple addresses. +*/ +#define ADDRESS_MODE SINGLE_ADR + +/* +* Use 485 or 232, default: 485 +* Use 232 for testing purposes or very simple applications that do not require RS485 and bus topology. +*/ +#define PHYSICAL_TYPE 485 //possible values: 485, 232 + +/* +#define modbusBaudrate 38400 +#define modbusBlocksize 10 +#define modbusBlockTime ((float)modbusBlocksize*1000000)/((float) modbusBaudrate) //is 260 f�r 38400 +#define timerISROccurenceTime 102 + +#define TimeoutStartOfMessage (uint16_t)(modbusBlockTime*3.5/(float)timerISROccurenceTime) +#define TimeoutEndOfMessage (uint16_t)(modbusBlockTime*4/(float)timerISROccurenceTime) +#define ReceiveMaxGap (uint16_t)(modbusBlockTime*1.5/(float)timerISROccurenceTime) +*/ +#define modbusInterFrameDelayReceiveStart 16 +#define modbusInterFrameDelayReceiveEnd 18 +#define modbusInterCharTimeout 7 + +/** + * @brief Defines the maximum Modbus frame size accepted by the device. 255 is the default + * and also the maximum value. However, it might be useful to set this to lower + * values, with 8 being the lowest possible value, in order to save on ram space. + */ +#define MaxFrameIndex 255 + +/** + * @brief Modbus Function Codes + * Refer to modbus.org for further information. + * It's good practice to return exception code 01 in case you receive a function code + * that you haven't implemented in your application. + */ +#define fcReadCoilStatus 1 //read single/multiple coils +#define fcReadInputStatus 2 //read single/multiple inputs +#define fcReadHoldingRegisters 3 //read analog output registers +#define fcReadInputRegisters 4 //read analog input registers (2 Bytes per register) +#define fcForceSingleCoil 5 //write single bit +#define fcPresetSingleRegister 6 //write analog output register (2 Bytes) +#define fcForceMultipleCoils 15 //write multiple bits +#define fcPresetMultipleRegisters 16 //write multiple analog output registers (2 Bytes each) +#define fcReportSlaveID 17 //read device description, run status and other device specific information + +/** + * @brief Modbus Exception Codes + * Refer to modbus.org for further information. + * It's good practice to return exception code 01 in case you receive a function code + * that you haven't implemented in your application. + */ +#define ecIllegalFunction 1 +#define ecIllegalDataAddress 2 +#define ecIllegalDataValue 3 +#define ecSlaveDeviceFailure 4 +#define ecAcknowledge 5 +#define ecSlaveDeviceBusy 6 +#define ecNegativeAcknowledge 7 +#define ecMemoryParityError 8 + +/** + * @brief Internal bit definitions + */ +#define BusTimedOut 0 +#define Receiving 1 +#define Transmitting 2 +#define ReceiveCompleted 3 +#define TransmitRequested 4 +#define TimerActive 5 +#define GapDetected 6 + +/** +* @brief Configures the UART. Call this function only once. +*/ +extern void modbusInit(void); + +/** +* @brief receive/transmit data array +*/ +volatile unsigned char rxbuffer[MaxFrameIndex+1]; + +/** +* @brief Current receive/transmit position +*/ +volatile uint16_t DataPos; + +/** + * This only applies to single address mode. + */ +#if ADDRESS_MODE == SINGLE_ADR + /** + * @brief: Read the device address + */ + extern uint8_t modbusGetAddress(void); + + /** + * @brief: Set the device address + * Arguments: - newadr: the new device address + */ + extern void modbusSetAddress(unsigned char newadr); +#endif + +/* @brief: Sends a response. +* +* Arguments: - packtop, index of the last byte in rxbuffer +* that contains payload. Maximum value is +* MaxFrameIndex-2. +*/ +extern void modbusSendMessage(unsigned char packtop); + +/* @brief: Sends a Modbus exception. +* +* Arguments: - exceptionCode +*/ +extern void modbusSendException(unsigned char exceptionCode); + +/* @brief: Discards the current transaction. For MULTIPLE_ADR-mode and general +* testing purposes. Call this function if you don't want to reply at all. +*/ +void modbusReset(void); + +/** + * @brief Call this function whenever possible and check if its return value has the ReceiveCompleted Bit set. + * Preferably do this in the main while. I do not recommend calling this function within ISRs. + * @example if (modbusGetBusState() & (1<