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marcel
239
firmware/Modbus-Serial/src/ModbusSerial.cpp
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239
firmware/Modbus-Serial/src/ModbusSerial.cpp
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/*
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ModbusSerial.cpp - Source for Modbus Serial Library
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Copyright (C) 2023 Pascal JEAN aka epsilonrt
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Copyright (C) 2014 André Sarmento Barbosa
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*/
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#include "ModbusSerial.h"
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ModbusSerial::ModbusSerial(Stream & port, byte slaveId, int txenPin) :
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m_stream(&port), m_txenPin(txenPin), m_slaveId(slaveId)
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{}
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void ModbusSerial::config (unsigned long baud) {
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if (m_txenPin >= 0) {
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pinMode (m_txenPin, OUTPUT);
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digitalWrite (m_txenPin, LOW);
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}
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if (baud > 19200) {
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m_t15 = 750;
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m_t35 = 1750;
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}
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else {
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m_t15 = 16500000UL / baud; // 1T * 1.5 = T1.5, 1T = 11 bits
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m_t35 = 38500000UL / baud; // 1T * 3.5 = T3.5, 1T = 11 bits
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}
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}
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void ModbusSerial::task() {
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_len = 0;
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while ( m_stream->available() > _len) {
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_len = m_stream->available();
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delayMicroseconds (m_t15);
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}
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if (_len == 0) {
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return;
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}
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byte i;
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_frame = (byte*) malloc (_len);
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for (i = 0 ; i < _len ; i++) {
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_frame[i] = m_stream->read();
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}
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if (receive (_frame)) {
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if (_reply == MB_REPLY_NORMAL) {
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sendPDU (_frame);
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}
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else if (_reply == MB_REPLY_ECHO) {
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send (_frame);
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}
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}
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free (_frame);
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_len = 0;
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}
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void ModbusSerial::setSlaveId (byte slaveId) {
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m_slaveId = slaveId;
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}
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byte ModbusSerial::getSlaveId() {
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return m_slaveId;
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}
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// protected
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bool ModbusSerial::receive (byte* frame) {
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//first byte of frame = address
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byte address = frame[0];
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//Last two bytes = crc
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word crc = ( (frame[_len - 2] << 8) | frame[_len - 1]);
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//Slave Check
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if (address != BroadcastAddress && address != getSlaveId()) {
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return false;
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}
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//CRC Check
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if (crc != calcCrc (_frame[0], _frame + 1, _len - 3)) {
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return false;
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}
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//PDU starts after first byte
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//framesize PDU = framesize - address(1) - crc(2)
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receivePDU (frame + 1);
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//No reply to Broadcasts
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if (address == BroadcastAddress) {
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_reply = MB_REPLY_OFF;
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}
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return true;
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}
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// protected
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bool ModbusSerial::send (byte* frame) {
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byte i;
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if (m_txenPin >= 0) {
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digitalWrite (m_txenPin, HIGH);
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delay (1);
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}
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for (i = 0 ; i < _len ; i++) {
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m_stream->write (frame[i]);
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}
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m_stream->flush();
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delayMicroseconds (m_t35);
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if (m_txenPin >= 0) {
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digitalWrite (m_txenPin, LOW);
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}
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return true;
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}
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// protected
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bool ModbusSerial::sendPDU (byte* pduframe) {
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if (m_txenPin >= 0) {
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digitalWrite (m_txenPin, HIGH);
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delay (1);
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}
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//Send slaveId
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m_stream->write (m_slaveId);
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//Send PDU
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byte i;
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for (i = 0 ; i < _len ; i++) {
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m_stream->write (pduframe[i]);
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}
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//Send CRC
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word crc = calcCrc (m_slaveId, _frame, _len);
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m_stream->write (crc >> 8);
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m_stream->write (crc & 0xFF);
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m_stream->flush();
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delayMicroseconds (m_t35);
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if (m_txenPin >= 0) {
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digitalWrite (m_txenPin, LOW);
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}
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return true;
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}
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// protected
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void ModbusSerial::reportServerId() {
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Modbus::reportServerId();
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_frame[2] = getSlaveId(); // Server ID
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}
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// private
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/* Table of CRC values for highorder byte */
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const byte _auchCRCHi[] = {
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
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0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40
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};
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/* Table of CRC values for loworder byte */
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const byte _auchCRCLo[] = {
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0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
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0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
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0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
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0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
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0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
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0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
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0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
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0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
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0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
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0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
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0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
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0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
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0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
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0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
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0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
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0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
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0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
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0x40
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};
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word ModbusSerial::calcCrc (byte address, byte* pduFrame, byte pduLen) {
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byte CRCHi = 0xFF, CRCLo = 0x0FF, Index;
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Index = CRCHi ^ address;
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CRCHi = CRCLo ^ _auchCRCHi[Index];
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CRCLo = _auchCRCLo[Index];
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while (pduLen--) {
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Index = CRCHi ^ *pduFrame++;
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CRCHi = CRCLo ^ _auchCRCHi[Index];
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CRCLo = _auchCRCLo[Index];
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}
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return (CRCHi << 8) | CRCLo;
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}
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111
firmware/Modbus-Serial/src/ModbusSerial.h
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111
firmware/Modbus-Serial/src/ModbusSerial.h
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/*
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ModbusSerial.h - Header for ModbusSerial Library
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Copyright (C) 2023 Pascal JEAN aka epsilonrt
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Copyright (C) 2014 André Sarmento Barbosa
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*/
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#include <Arduino.h>
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#include <Modbus.h>
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#pragma once
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/**
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* @enum MB_PARITY
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* @brief Parity
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*
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* See paragraph [2.5.1 RTU Transmission Mode] from
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* MODBUS over serial line specification and implementation guide V1.02
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* http://www.modbus.org/docs/Modbus_over_serial_line_V1_02.pdf
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*
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* The format (11 bits) for each byte in RTU mode is :
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* Coding System:
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*
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* * 8–bit binary
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*
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* Bits per Byte:
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*
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* * 1 start bit
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* * 8 data bits, least significant bit sent first
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* * 1 bit for parity completion
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* * 1 stop bit
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* .
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*
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* Even parity is required, other modes ( odd parity, no parity )
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* may also be used. In order to ensure a maximum compatibility with
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* other products, it is recommended to support also No parity mode.
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* The default parity mode must be even parity.
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* Remark : the use of no parity requires 2 stop bits.
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*/
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enum MB_PARITY {
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MB_PARITY_NONE = SERIAL_8N2, ///< No parity
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MB_PARITY_EVEN = SERIAL_8E1, ///< Even parity
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MB_PARITY_ODD = SERIAL_8O1 ///< Odd parity
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};
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/**
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* @class ModbusSerial
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* @brief Modbus over serial line Class
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*/
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class ModbusSerial : public Modbus {
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public:
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/**
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* @brief Constructor
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* @param port serial port to use
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* @param txenPin if an RS485 circuit is used, this corresponds to the
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* pin number connected to the transmit enable (DE) and receive disable (/RE) pin.
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* -1 if not used.
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*/
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ModbusSerial (Stream & port, byte slaveId, int txenPin = -1);
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/**
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* @brief Configure ModbusSerial object
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*
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* configures txenPin on output if necessary and calculates the times of the RTU frame.
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*
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* @warning the \c begin() function of the serial port passed to the constructor
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* must be called **BEFORE** calling this function.
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*
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* @param baud baudrate in accordance with that used by the serial port
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*/
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void config (unsigned long baud);
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/**
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* @brief Task that performs all operations on MODBUS
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*
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* Call once inside loop(), all magic here !
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*/
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void task();
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/**
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* @brief Change the value of slave identifier
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* @param slaveId identifier 1-247
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*/
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void setSlaveId (byte slaveId);
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/**
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* @brief Return slave identifier
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*/
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byte getSlaveId();
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/**
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* @brief Broadcast address
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*/
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static const byte BroadcastAddress = 0;
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protected:
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bool receive (byte * frame);
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bool sendPDU (byte * pduframe);
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bool send (byte * frame);
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void reportServerId();
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private:
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Stream * m_stream;
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int m_txenPin;
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byte m_slaveId;
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unsigned int m_t15; // inter character time out (us)
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unsigned int m_t35; // frame delay (us)
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private:
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word calcCrc (byte address, byte * pduframe, byte pdulen);
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};
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