/************************************************************************/ /* Copyright 2009 MBARI */ /************************************************************************/ /* Summary : Definitions for ModBus on Respirometer controller (O4) */ /* Filename : modbus.h */ /* Author : Robert Herlien (rah) */ /* Project : Respirometers */ /* Revision: 1.0 */ /* Created : 03/03/2009 */ /* */ /* MBARI provides this documentation and code "as is", with no warranty, */ /* express or implied, of its quality or consistency. It is provided without*/ /* support and without obligation on the part of the Monterey Bay Aquarium */ /* Research Institute to assist in its use, correction, modification, or */ /* enhancement. This information should not be published or distributed to */ /* third parties without specific written permission from MBARI. */ /* */ /************************************************************************/ /* Modification History: */ /* 3mar2009 rah - created */ /************************************************************************/ #ifndef INCmodbush #define INCmodbush 1 #include #include /********************************/ /* Misc Defines */ /********************************/ #define BACKUP_MODLOG_FILES 5 #define DEFAULT_BAUD 57600 #define DEFAULT_MODE (NO_PTY | BIT8 | STOP1) #define DEFAULT_SER_TMOUT (TICKS_PER_SECOND/10) #define RCV_TMOUT_HEADER (TICKS_PER_SECOND/2) #define DEFAULT_TURNAROUND_USECS 500 #define MIN_INTERMSG_USECS 1750 #define INTERMSG_RTC_TICKS 70 /* 1.75 ms in 40 khz ticks */ #define MAX_MSG_LEN 256 #define BASE_QUERY_LEN 6 #define BASE_RESPONSE_LEN 5 #define MAX_BITS 2000 #define MAX_REGS 125 #define IDENT 0x3cf1 #define MAX_SLAVES 16 /****************************************************************/ /* Flag bits */ /* Bits 0,1 define power to Modbus when no one has bus open */ /****************************************************************/ #define PWROFF_BITS 3 #define KEEP_PWR 0 /* 00 = Keep pwr on, even after close */ #define PWROFF_IF_NO_PWR 1 /* 01 = Pwr off on close if no pwr bits set*/ #define PWROFF_IF_NO_PWRIO 2 /* 10 = Pwr off on close if no pwr or I/O bits*/ #define PWROFF_ALWAYS 3 /* 11 = Pwr off on close despite pwr or I/O bits*/ typedef struct /****************************************/ { /* Struct to count msgs/errors for one slave*/ Nat16 slaveID; /* Slave ID */ Nat32 msgs; /* Message count for this slave */ Nat32 errs; /* Error count for this slave */ } SlaveCntr; /****************************************/ typedef struct /****************************************/ { /* Struct to describe one Modbus bus */ Nat16 serport; /* Physical serial port */ Nat32 flags; /* Flag bits */ Nat32 baud; /* Baud rate to use */ Nat32 sermode; /* Serial mode, default N81 */ Nat32 surgeDelayMs; /* Surge delay in msecs for power on */ Int32 serTmout; /* Ticks to send/receive 256 bytes */ Int32 openCount; /* Number of times opened */ Nat32 turnaroundUsecs; /* Usecs to wait to turn around line */ TimeOfDay rcvTime; /* Time of last msg rcv */ MBool is485; /* TRUE if running RS485 */ MBool busIsPowered; /* TRUE if bus is powered */ Nat16 rcvTick; /* RTC Tick offset of last msg rcv */ Nat16 rcvLen; /* Length of valid msg in rcvBuf */ Nat16 ident; /* Ident field to catch errors */ /* Send and receive buffers */ Nat32 totMsgs; /* Total message count */ Nat32 totErrs; /* Total error count for this bus */ SlaveCntr slaveCnt[MAX_SLAVES]; /* Msg/Error counts for slaves */ Byte sndBuf[MAX_MSG_LEN]; Byte rcvBuf[MAX_MSG_LEN]; } ModBusStruct; /****************************************/ typedef ModBusStruct *ModBusHandle; /********************************/ /* Function Codes */ /********************************/ #define FC_READ_COILS 1 #define FC_READ_INPUTS 2 #define FC_READ_HOLDING_REGS 3 #define FC_READ_INPUT_REGS 4 #define FC_WRITE_ONE_COIL 5 #define FC_WRITE_ONE_REG 6 #define FC_WRITE_MULT_COILS 15 #define FC_WRITE_MULT_REGS 16 #define FC_REPORT_SLAVE_ID 17 #define FC_WRITE_READ_MULT_REGS 23 #define FC_READ_FIFO_QUEUE 24 /********************************/ /* Exception Return Codes */ /* OK defined as 0 in oasis.h */ /********************************/ /* Exception codes defined by standard */ #define ILLEGAL_FUNCTION -1 #define ILLEGAL_DATA_ADDRESS -2 #define ILLEGAL_DATA_VALUE -3 #define SLAVE_DEVICE_FAILURE -4 #define ACKNOWLEDGE -5 #define SLAVE_DEVICE_BUSY -6 #define NEGATIVE_ACKNOWLEDGE -7 #define MEMORY_PARITY_ERROR -8 #define GATEWAY_PROBLEM_PATH -10 #define GATEWAY_PROBLEM_TARGET -11 /* Local failure codes */ #define SEND_FAILURE -12 #define COMM_TIME_OUT -13 #define INVALID_CRC -14 #define ILLEGAL_RESPONSE -15 #define INVALID_EXCEPTION_CODE -16 #define ILLEGAL_PORT -17 #define DATA_SIZE_ERROR -18 #define PORT_ERROR -19 #define RCV_TIMEOUT -20 #define SLAVE_ID_MISMATCH -21 #define FUNC_CODE_MISMATCH -22 #define PORT_CONFLICT -23 /* Conflict in assigning port */ #define PORT_IN_USE -24 #define NUM_ERR_CODES 24 /****************************************/ /* Function Declarations */ /****************************************/ Errno readCoils(ModBusHandle mh, Nat16 slave, Nat16 startAddr, Nat16 numCoils, Byte *result); Errno readInputs(ModBusHandle mh, Nat16 slave, Nat16 startAddr, Nat16 numInputs, Byte *result); Errno readHoldingRegs(ModBusHandle mh, Nat16 slave, Nat16 startAddr, Nat16 numRegs, Nat16 *result); Errno readInputRegs(ModBusHandle mh, Nat16 slave, Nat16 startAddr, Nat16 numRegs, Nat16 *result); Errno writeOneCoil(ModBusHandle mh, Nat16 slave, Nat16 coilAddr, MBool on); Errno writeOneReg(ModBusHandle mh, Nat16 slave, Nat16 regAddr, Nat16 value); Errno writeCoils(ModBusHandle mh, Nat16 slave, Nat16 startAddr, Nat16 numCoils, const Byte *data); Errno writeRegs(ModBusHandle mh, Nat16 slave, Nat16 startAddr, Nat16 numRegs, const Nat16 *data); Errno reportSlaveId(ModBusHandle mh, Nat16 slave, Byte *result); Errno writeReadRegs(ModBusHandle mh, Nat16 slave, Nat16 readAddr, Nat16 numReads, Nat16 writeAddr, Nat16 numWrites, const Nat16 *writeData, Nat16 *readData); Errno writeReadSpecial(ModBusHandle mh, Nat16 slave, Nat16 readAddr, Nat16 numReads, Nat16 writeAddr, Nat16 numWrites1, Byte *writeData1, Nat16 numWrites2, Byte *writeData2, Nat16 *readData); /* From modbuscrc.c */ Nat16 mod_crc16(Byte *buffer, Nat16 buffer_length); Errno check_mod_crc16(Byte *msg, const Nat16 msg_length); /* From modbusio.c */ Void initModBus(Void); Void getModbusPort(Nat16 serport); Void releaseModbusPort(Nat16 serport); Errno modBusConfigure(Nat16 port, Nat32 baud, Nat32 mode, Nat32 surgeDelayMs, Nat32 flags); MBool modBusConfigured(Nat16 port); MBool modBusIsPowered(Nat16 port); Int16 usrModPower(Nat16 pmask, Parm_t port, Parm_t onoff); ModBusHandle modBusOpen(Nat16 port); Errno modBusClose(ModBusHandle mh); Errno modBusIO(ModBusHandle mh, Nat16 sndLen); Int16 showModBus(Void); Errno logModBus(Int32 argc, char **argv, MBool syntaxOnly); SlaveCntr *findSlaveCntr(ModBusHandle mh, Nat16 slaveID); /* From modbuserr.c */ const char *modBusErrString(Errno errno); Void logModResult(ModBusHandle mh, Errno rtnCode, Nat16 sndLen); #endif /* INCmodbush */