static void
vInitTask( void *pvParameters )
{
const unsigned char ucSlaveIDAdditonal[] = { 0xAA, 0xBB, 0xCC };
eMBErrorCode eStatus;
/* Select either ASCII or RTU Mode. */
eStatus = eMBInit( MB_RTU, 0x0A, 0, 38400, MB_PAR_EVEN );
assert( eStatus == MB_ENOERR );
/* Configure the slave id of the device. */
eStatus = eMBSetSlaveID( 44, TRUE, ucSlaveIDAdditonal, 3 );
assert( eStatus == MB_ENOERR );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
for( ;; )
{
/* Call the main polling loop of the Modbus protocol stack. Internally
* the polling loop waits for a new event by calling the port
* dependent function xMBPortEventGet( ). In the FreeRTOS port the
* event layer is built with queues.
*/
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
}
/* ----------------------- Start implementation -----------------------------*/
int
main( void )
{
const UCHAR ucSlaveID[] = { 0xAA, 0xBB, 0xCC };
eMBErrorCode eStatus;
// DDRA |= 0b00001110;
eStatus = eMBInit( MB_RTU, 0x0A, 0, 38400, MB_PAR_NONE );
eStatus = eMBSetSlaveID( 0x34, TRUE, ucSlaveID, 3 );
sei( );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
for( ;; )
{
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
}
/**
* MCU: Atmega328
* Fuses: Oscilador interno a 8 Mhz (sin dividir por 8)
* -U lfuse:w:0xe2:m -U hfuse:w:0xd1:m -U efuse:w:0x07:m
*/
int main(void) {
adc_init();
timer0_init(timer0_callback);
i2c_init();
rtc_init(rtc);
rtc_sqw_rate(rtc, 1);
rtc_sqw_enable(rtc);
rtc_clock_start(rtc);
eMBInit(MB_RTU, 0x03, 0, 9600, MB_PAR_NONE);
eMBSetSlaveID(0x3, TRUE, (UCHAR*) "demeter", 8);
eMBEnable();
blinkenlight(5, 100);
parameters_init();
ports_init();
f_mount(&fs, "", 0);
update_log_filename();
while (1) {
eMBPoll();
update_state();
_delay_ms(100);
}
return (0);
}
/* ----------------------- Start implementation -----------------------------*/
int
main( void )
{
const UCHAR ucSlaveID[] = { 0xAA, 0xBB, 0xCC };
eMBErrorCode eStatus;
ULONG my_counter = 0;
eStatus = eMBInit( MB_RTU, 0x0A, 0, 38400, MB_PAR_EVEN );
eStatus = eMBSetSlaveID( 0x34, TRUE, ucSlaveID, 3 );
sei( );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
for( ;; )
{
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
if( my_counter++ > 100000) {
my_counter = 0;
usRegInputBuf[0]++;
}
/* The constant value. */
usRegInputBuf[1] = 33;
}
}
bool_t initJbus485 (void)
{
eMBErrorCode eStatus;
getJbus485StatesFromEeprom ();
if ((eStatus = eMBInit (jbus485States.mode, jbus485States.address,
1, jbus485States.baudRate,
jbus485States.parity, jbus485States.nbBitsStop)) != MB_ENOERR) {
DebugTrace ("eMBInit Failed err=%d", eStatus);
return FALSE;
}
if ((eStatus = eMBSetSlaveID (0x42, TRUE, UniqProcessorId, UniqProcessorIdLen)) != MB_ENOERR) {
DebugTrace ("eMBSetSlaveID Failed err=%d", eStatus);
return FALSE;
}
if ((eStatus = eMBEnable()) != MB_ENOERR) {
DebugTrace ("eMBEnable Failed err=%d", eStatus);
return FALSE;
}
pxMBPortCBTimerExpired ();
return TRUE;
}
static void Modbus_RS485_Task(void *pvParameters)
{
eMBEnable(&stContext_RS485);
Watchdog_SetTaskStatus(RS485_TASK,TASK_ACTIVE);
for( ;; )
{
eMBPoll(&stContext_RS485);
vTaskDelay(MODBUS_POLL_TIME);
Watchdog_IncrementCouter(RS485_TASK);
}
}
/* ----------------------- Start implementation -----------------------------*/
int
main( void )
{
/* Select either ASCII or RTU Mode. */
( void )eMBInit( MB_RTU, 0x0A, 0, 9600, MB_PAR_EVEN );
/* Enable the Modbus Protocol Stack. */
( void )eMBEnable( );
for( ;; )
{
/* Call the main polling loop of the Modbus protocol stack. */
( void )eMBPoll( );
}
}
static void
vModbusTask( void *pvParameters )
{
/* Select either ASCII or RTU Mode. */
( void )eMBInit( MB_RTU, 0x0A, 0, 38400, MB_PAR_EVEN );
/* Enable the Modbus Protocol Stack. */
( void )eMBEnable( );
/* Enter main loop. */
for( ;; )
{
/* Call the main polling loop of the Modbus protocol stack. */
( void )eMBPoll( );
}
}
/* ==============================================
main task routine
============================================== */
int main(void) {
pool_memadd((uint32_t) pool, sizeof(pool));
#ifdef DEBUG
dbg.start();
#endif
eMBErrorCode eStatus;
// dbg.waitToDebugMode();
#if MB_TCP_ENABLED == 1
eStatus = eMBTCPInit( MB_TCP_PORT_USE_DEFAULT );
#endif
if (eStatus != MB_ENOERR)
dbg.println("can't initialize modbus stack!");
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable();
if (eStatus != MB_ENOERR)
dbg.println("can't enable modbus stack!");
// Initialise some registers
usRegInputBuf[1] = 0x1234;
usRegInputBuf[2] = 0x5678;
usRegInputBuf[3] = 0x9abc;
// debug LED
CPin led(LED1);
CTimeout tm;
// Enter an endless loop
while (1) {
if ( tm.read()>0.5 ) {
led = !led;
tm.reset();
}
eStatus = eMBPoll( );
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
return 0;
}
/* ----------------------- Start implementation -----------------------------*/
int
main( void )
{
eMBErrorCode eStatus;
eStatus = eMBInit( MB_RTU, 0x0A, 0, 38400, MB_PAR_EVEN );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
for( ;; )
{
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
}
/* ----------------------- Start implementation -----------------------------*/
int main(void)
{
eMBErrorCode eStatus;
eStatus = eMBInit(MB_RTU, 0x0A, 0, BAUD_MODBUS, MB_PAR_EVEN); /* Port 0 is defined in portserial.c */
sei( );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable();
for (;;)
{
(void) eMBPoll();
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
}
/**
* @功能
* @参数
* @返回值
*/
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);
NVIC_Configuration();
LED_Config();
/* 模式 从机地址 端口 波特率 校验位*/
eMBInit( MB_RTU, 0x02, 0, 9600, MB_PAR_NONE );
/* Enable the Modbus Protocol Stack. */
eMBEnable( );
for( ;; )
{
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
// usRegInputBuf[0]++;
}
}
/* ----------------------- Start implementation -----------------------------*/
int
main( void )
{
_SetupHardware( );
const UCHAR ucSlaveID[] = { 0xAA, 0xBB, 0xCC };
eMBErrorCode eStatus;
for( ;; )
{
if( MB_ENOERR != ( eStatus = eMBInit( MB_RTU, 0x0A, 1, 38400, MB_PAR_EVEN ) ) )
{
/* Can not initialize. Add error handling code here. */
}
else
{
if( MB_ENOERR != ( eStatus = eMBSetSlaveID( 0x34, TRUE, ucSlaveID, 3 ) ) )
{
/* Can not set slave id. Check arguments */
}
else if( MB_ENOERR != ( eStatus = eMBEnable( ) ) )
{
/* Enable failed. */
}
else
{
usRegHoldingBuf[0] = 1;
do
{
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
while( usRegHoldingBuf[0] );
( void )eMBDisable( );
( void )eMBClose( );
}
}
}
return 1;
}
DWORD WINAPI
dwPollingThread( LPVOID lpParameter )
{
eSetPollingThreadState( RUNNING );
if( eMBEnable( ) == MB_ENOERR )
{
do
{
if( eMBPoll( ) != MB_ENOERR )
break;
}
while( eGetPollingThreadState( ) != SHUTDOWN );
}
( void )eMBDisable( );
eSetPollingThreadState( STOPPED );
return 0;
}
/**
* Poll the modbus.
*
* @param pvParameter
*/
void *
pvPollingThread( void *pvParameter )
{
vSetPollingThreadState( RUNNING );
DEBUG_PUTSTRING("Thread started!");
if( eMBEnable( ) == MB_ENOERR )
{
do
{
if( eMBPoll( ) != MB_ENOERR )
break;
}
while( eGetPollingThreadState( ) != SHUTDOWN );
}
( void )eMBDisable( );
vSetPollingThreadState( STOPPED );
DEBUG_PUTSTRING("Thread stopped!");
cmd_done(BOOT_EXIT);
return 0;
}
static void
vTaskMODBUS( void *pvArg )
{
const UCHAR ucSlaveID[] = { 0xAA, 0xBB, 0xCC };
eMBErrorCode eStatus;
for( ;; )
{
if( MB_ENOERR != ( eStatus = eMBInit( MB_ASCII, 0x0A, 1, 38400, MB_PAR_EVEN ) ) )
{
/* Can not initialize. Add error handling code here. */
}
else
{
if( MB_ENOERR != ( eStatus = eMBSetSlaveID( 0x34, TRUE, ucSlaveID, 3 ) ) )
{
/* Can not set slave id. Check arguments */
}
else if( MB_ENOERR != ( eStatus = eMBEnable( ) ) )
{
/* Enable failed. */
}
else
{
usRegHoldingBuf[0] = 1;
do
{
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
while( usRegHoldingBuf[0] );
}
( void )eMBDisable( );
( void )eMBClose( );
}
vTaskDelay( 50 );
}
}
int main(void)
{
board_init();
system_init();
QueueInit(&lock_fifo);
//modbus485有线的配置
eMBInit(MB_RTU, MSlaveID, MODBUS_UART_NUMBER, MODBUS_UART_BAUDRATE, MB_PAR_NONE);
eMBEnable();
while (1) {
if(Timer2_Get_Sensor_Data() == 0){
QueueInit(&lock_fifo);
if(Door_Flag1 == 1)
{
SetAndSendRemoteOpenDoorCmd();
Door_Flag1 = 0;
}
}
}
}
/* ----------------------- Start implementation -----------------------------*/
int main( void )
{
const UCHAR ucSlaveID[] = { 0xAA, 0xBB, 0xCC };
eMBErrorCode eStatus;
eStatus = eMBInit( MB_RTU, 0x0A, 0, 9600, MB_PAR_NONE ); // 0x0A slave address
eStatus = eMBSetSlaveID( 0x34, TRUE, ucSlaveID, 3 );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
sei( );
while(1)
{
( void )eMBPoll( );
usRegInputBuf[0] = 1234;
usRegHoldingBuf[0] = 5678;
}
}
/* ----------------------- Start implementation -----------------------------*/
int
main( void )
{
const UCHAR ucSlaveID[] = { 0x01 };
eMBErrorCode eStatus;
eStatus = eMBInit( MB_RTU, 0x01, 0, 38400, MB_PAR_EVEN );
eStatus = eMBSetSlaveID(ucSlaveID[0], TRUE, ucSlaveID, 3 );
sei( );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
for( ;; )
{
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
}
/* ----------------------- Start implementation -----------------------------*/
int
main( void )
{
eMBErrorCode eStatus;
eStatus = eMBInit( MB_RTU, SLAVE_ID, 0, 9600, MB_PAR_NONE );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
// Initialise some registers
usRegInputBuf[1] = 0x1234;
usRegInputBuf[2] = 0x5678;
usRegInputBuf[3] = 0x9abc;
for( ;; )
{
( void )eMBPoll( );
/* Here we simply count the number of poll cycles. */
usRegInputBuf[0]++;
}
}
static void
vModbusTask( void *pvParameters )
{
int i;
/* Select either ASCII or RTU Mode. */
( void )eMBInit( MB_RTU, 0x0A, 0, 38400, MB_PAR_EVEN );
/* Initialize the holding register values before starting the
* Modbus stack. */
for( i = 0; i < REG_HOLDING_NREGS; i++ )
{
usRegHoldingBuf[i] = ( unsigned short )i;
}
/* Enable the Modbus Protocol Stack. */
( void )eMBEnable( );
for( ;; )
{
/* Call the main polling loop of the Modbus protocol stack. */
( void )eMBPoll( );
}
}
int main( int argc, char *argv[] )
{
int c;
int option_index = 0;
int received;
int mq_id;
struct sIPCMsg mymsg;
char *ttydev = DEFAULT_TTY;
char *parity_s = DEFAULT_PAR;
int parity;
int baud = DEFAULT_BAUD;
USHORT result[255] = {0,};
int result_int = 0;
USHORT usLen;
eMBErrorCode err = MB_ENOERR;
int reg_start = DEFAULT_REGISTER_START;
int address = DEFAULT_ADDRESS;
int regt = -1;
int reg_action = -1;
int reg_action_param = -1;
int no_reg = -1;
int run_forground = 0;
int errorcount = 0;
struct pidfile *pidfile = NULL;
UCHAR *pucFrame;
eMBException eException;
UCHAR ucFuncType;
/* Parse cmd-line options */
while ( (c = getopt_long (argc, argv, "hVd:s:p:r:t:c:a:f", long_options, &option_index)) != EOF ) {
switch (c) {
case 'h':
fprintf(stderr, "%s", helptext);
exit(EXIT_SUCCESS);
case 'V':
exit(EXIT_SUCCESS);
case 'd':
ttydev = strndup(optarg, MAXLEN);
break;
case 's':
baud = atoi(optarg);
break;
case 'p':
parity_s = strndup(optarg, MAXLEN);
break;
case 'f': // run in forground
run_forground = 1;
break;
case '?':
/* getopt_long already printed an error message. */
default:
fprintf(stderr, "%s", helptext);
exit(EXIT_SUCCESS);
}
}
if(!run_forground){
fprintf(stderr, "Deamonizing...\n");
daemon(0, 0);
}
/* Setup signalhandler so that we shut down
nicely on CTRL+C */
signal(SIGINT, int_handler);
pidfile = pidfile_create(DEFAULT_PIDFILE, PMODE_RETURN, 0);
mq_id = create_ipc();
/* Allocate space for an ADU frame */
pucFrame = eMBAllocateFrame(&usLen);
while(outer_loop) {
if(running == 1)
printf("Restarting modbus layer\n");
else {
printf("\n\n\n\n Restarting modbus layer\n\n\n\n");
running = 1;
errorcount = 0;
}
/* Parse user inputs... */
if(strcmp(parity_s, "even") == 0)
parity = MB_PAR_EVEN;
else if(strcmp(parity_s, "odd") == 0)
parity = MB_PAR_ODD;
else
parity = MB_PAR_NONE;
PRINT_DBG(1, "init modbus at tty: %s parity %d baud %d", ttydev, parity, baud);
/* mode, port, baud, parity */
eMBMasterInit(MB_RTU, ttydev, baud, parity);
while(running) {
/* Check message queue */
if((received = msgrcv(mq_id, &mymsg, sizeof(mymsg.text), 1, IPC_NOWAIT)) > 0) {
/* Address */
address = parse_address(mymsg.text);
/* Starting register */
reg_start = parse_reg_start(mymsg.text);
/* Register type */
regt = parse_reg_type(mymsg.text);
/* Register action */
reg_action_param = 0;
reg_action = parse_reg_action(mymsg.text, ®_action_param);
/* Optional: number of registers */
no_reg = parse_no_reg(mymsg.text);
#ifdef DBG
if(dbglev>=1){
printf("Got: %s\n", mymsg.text);
printf("Parsing command:\n");
printf("Address: 0x%02x\n", address);
printf("Register: %d\n", reg_start);
printf("Register type: %d\n", regt);
printf("Register action: %d Arg: %d\n", reg_action, reg_action_param);
printf("Register count: %d\n", no_reg);
}
#endif
switch(regt) {
case MB_TYPE_COILS:
switch(reg_action) {
case ACTION_READ:
err = build_eMBMasterReadCoils (pucFrame, reg_start, reg_action_param, &usLen);
break;
case ACTION_WRITE:
err = build_eMBMasterWriteCoils (pucFrame, reg_start, reg_action_param ? 0xff : 0x0, &usLen);
break;
case ACTION_WRITEMULTIPLE:
err = build_eMBMasterWriteMultipleCoils (pucFrame, reg_start, no_reg, reg_action_param ? 0xff : 0x0, &usLen);
break;
}
break;
case MB_TYPE_INPUT:
err = build_eMBMasterReadInput (pucFrame, reg_start, reg_action_param, &usLen);
break;
case MB_TYPE_HOLDING:
switch(reg_action) {
case ACTION_READ:
err = build_eMBMasterReadHolding (pucFrame, reg_start, reg_action_param, &usLen);
break;
case ACTION_WRITE:
err = build_eMBMasterWriteSingleHolding (pucFrame, reg_start, reg_action_param, &usLen);
break;
}
break;
}
#ifdef DBG
if(dbglev){
int n;
printf("Dumping built frame:\n");
for(n=0; n<10; n++)
printf("%02x ",pucFrame[n]);
printf("\n");
}
#endif
/* ? */
eMBEnable();
memset(result, 0, sizeof(result));
if(err == MB_EX_NONE) {
/* Set the address of the device in question */
eMBSetSlaveAddress(address);
/* Send the frame */
if( (err = eMBSendFrame(pucFrame, usLen)) == MB_ENOERR) {
printf(" ---- done processing frame ----\n");
eException = MB_EX_ILLEGAL_FUNCTION;
ucFuncType = pucFrame[MB_PDU_FUNC_OFF];
#ifdef DBG
if(dbglev){
printf("%s():%d - after send...\n", __FUNCTION__, __LINE__);
{
int n;
printf("Dumping received frame:\n");
for(n=0; n<10; n++)
printf("%02x ",pucFrame[n]);
printf("\n");
}
}
#endif
if(ucFuncType & 0x80) {
UCHAR ucExceptType = pucFrame[MB_PDU_FUNC_OFF+1];
/* We encountered some sort of error */
switch(ucExceptType) {
case MB_EX_ILLEGAL_FUNCTION:
fprintf(stderr, "Error! Illegal function!\n");
break;
case MB_EX_ILLEGAL_DATA_ADDRESS:
fprintf(stderr, "Error! Illegal data address!\n");
break;
case MB_EX_ILLEGAL_DATA_VALUE:
fprintf(stderr, "Error! Illegal data value!\n");
break;
case MB_EX_SLAVE_DEVICE_FAILURE:
fprintf(stderr, "Error! Slave device failure!\n");
break;
default:
fprintf(stderr, "Unknown error (%d)!\n", eException);
break;
}
} else {
switch(ucFuncType) {
case MB_FUNC_READ_COILS:
eException = parse_eMBMasterReadCoils(pucFrame, &usLen, (void *)result);
#ifdef DBG
if(dbglev)
printf("Reply: %04x\n", result[0]);
#endif
break;
case MB_FUNC_WRITE_SINGLE_COIL:
eException = parse_eMBMasterWriteCoils(pucFrame, &usLen, (void *)result);
#ifdef DBG
if(dbglev)
printf("Reply: %04x\n", result[0]);
#endif
break;
case MB_FUNC_READ_INPUT_REGISTER:
eException = parse_eMBMasterReadInput(pucFrame, &usLen, (void *)result);
#ifdef DBG
if(dbglev)
printf("Reply (%d): %04x\n", eException, result[0]);
#endif
break;
case MB_FUNC_READ_HOLDING_REGISTER:
eException = parse_eMBMasterReadHolding(pucFrame, &usLen, (void *)result);
#ifdef DBG
printf("Reply: %04x %04x %d %d\n", result[0],result[1], result_int, reg_action_param);
#endif
break;
case MB_FUNC_WRITE_REGISTER:
eException = parse_eMBMasterWriteSingleHolding(pucFrame, &usLen, (void *)result);
#ifdef DBG
printf("Reply: %04x\n", result[0]);
#endif
break;
case MB_FUNC_WRITE_MULTIPLE_COILS:
usLen = 5;
eException = parse_eMBMasterWriteMultipleCoils(pucFrame, &usLen, (void *)result);
if(eException == MB_EX_NONE)
printf("Write multiple coils SUCCESS!\n");
else
printf("Write multiple coils FAIL!\n");
break;
default:
printf("Unknown function type : %x\n", ucFuncType);
printf("%d : %s()\n", __LINE__, __FUNCTION__);
{
int n;
for(n=0; n<10; n++)
printf("%02x ",pucFrame[n]);
printf("\n");
}
break;
}
switch(ucFuncType) {
case MB_FUNC_READ_HOLDING_REGISTER:
case MB_FUNC_READ_INPUT_REGISTER:
if(reg_action_param == 2){
printf("!!!!\n");
result_int = (result[0]<<16) | result[1];
}else {
result_int = result[0];
}
break;
default:
result_int = result[0];
break;
}
if(eException == MB_EX_NONE) {
snprintf(mymsg.text, sizeof(mymsg.text), "%ld:REG:%d:RESULT:%d", time(NULL), reg_start, result_int);
} else {
snprintf(mymsg.text, sizeof(mymsg.text), "ERROR:Parsing frame");
}
#ifdef DBG
printf("%s():%d - reply: %s\n",
__FUNCTION__, __LINE__, mymsg.text);
#endif
goto out;
}
} else {
printf("Error sending frame. (%d)\n", err);
snprintf(mymsg.text, sizeof(mymsg.text), "ERROR:Sending frame");
if(errorcount > 10)
running = 0;
else
errorcount++;
}
} else {
printf("Error in frame arguments.\n");
snprintf(mymsg.text, sizeof(mymsg.text), "ERROR:Wrong argument");
}
out:
/* Set the reply */
mymsg.type = 2;
#ifdef DBG
printf("%s():%d - reply: %s\n",
__FUNCTION__, __LINE__, mymsg.text);
#endif
msgsnd(mq_id, &mymsg, sizeof(mymsg.text), IPC_NOWAIT);
eMBDisable();
} else {
//printf("No messages. Sleeping (%d - %s)\n", received, received < 0 ? strerror(errno) : "");
}
usleep(1000);
}
// free(pucFrame);
eMBClose();
}
destroy_ipc(PROJ_ID);
pidfile_delete(pidfile);
return 0;
}
/* Private function ----------------------------------------------------------*/
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
uint8_t cnt=0;
/* Set the Vector Table base adress at 0x8004000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x4000);
/* LED0 -> PB0 LED1 -> PB1 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Initialize protocol stack in RTU mode for a slave with address 10 = 0x0A
// MB_RTU, Device ID: 1, USART portL: 1 (este configurat in portserial.h, Baud rate: 38400, Parity: NONE)
eMBInit(MB_RTU, 1, 1, 38400, MB_PAR_NONE);
// Enable the Modbus Protocol Stack.
eMBEnable();
while(1)
{
// Reset the flag. It will only be set if the modbus pooling has a request
Modbus_Request_Flag = 0;
// Call the main polling loop of the Modbus protocol stack.
eMBPoll();
if (Modbus_Request_Flag) GPIO_SetBits(GPIOB , GPIO_Pin_0);
Delay(0xffff);
if (Modbus_Request_Flag) GPIO_ResetBits(GPIOB , GPIO_Pin_0);
cnt++;
if (cnt == 4) \
{
writeInputRegister(1, 111);
writeInputRegister(2, 222);
writeInputRegister(98, 111);
writeInputRegister(99, 222);
writeHoldingRegister(1, 333);
writeHoldingRegister(2, 444);
writeHoldingRegister(98, 333);
writeHoldingRegister(99, 444);
writeCoil(1, 0);
writeCoil(2, 1);
writeCoil(58, 1);
writeCoil(59, 0);
}
if (cnt == 8)
{
writeInputRegister(1, 222);
writeInputRegister(2, 111);
writeInputRegister(98, 222);
writeInputRegister(99, 111);
writeHoldingRegister(1, 444);
writeHoldingRegister(2, 333);
writeHoldingRegister(98, 444);
writeHoldingRegister(99, 333);
writeCoil(1, 1);
writeCoil(2, 0);
writeCoil(58, 0);
writeCoil(59, 1);
cnt = 0;
}
}
}
int main(void)
{
/*Ждем пока все включится*/
_delay_ms(100);
/*Настраиваем порты ввода-вывода*/
DDRB = 1<<PORTB0|1<<PORTB1|1<<PORTB2|1<<PORTB3|1<<PORTB4|1<<PORTB5|1<<PORTB6|1<<PORTB7;
DDRC = 1<<PORTC0|1<<PORTC1|1<<PORTC2|0<<PORTC3|0<<PORTC4|0<<PORTC5|0<<PORTC6|0<<PORTC7;
DDRD = 0<<PORTD0|0<<PORTD1|0<<PORTD2|0<<PORTD3|1<<PORTD4|0<<PORTD5|0<<PORTD6|1<<PORTD7;
PORTB = 1;
PORTD = 1 << PORTD2;
/*Тяга двигателей на минимум*/
for(uint8_t k = 0; k < CHANNELS_COUNT; ++k)
{
counter[k] = LOW;
}
/*Настраиваем I2C*/
TWSR = 0x00;
TWBR = ((F_CPU / I2C_SPEED) - 16) / 2;
_delay_us(10);
/*Включаем Таймер0*/
TCCR0 = 1<<CS02 | 0<<CS01 | 0<<CS00;
/*Включаем Таймер1*/
OCR1A=HIGH; //TOP
TCCR1A=0<<COM1A1|0<<COM1A0|1<<COM1B1|0<<COM1B0|0<<FOC1A|0<<FOC1B|1<<WGM11|1<<WGM10;
TCCR1B=0<<ICNC1|0<<ICES1|1<<WGM13|1<<WGM12|0<<CS12|0<<CS11|1<<CS10;
TIMSK= 1<<TOIE2 | 1<<OCIE1A|1<<OCIE1B|0<<TOIE1|1<<TOIE0|0<<OCIE0;
OCR1B=LOW;
/*Включаем АЦП*/
ADC_Init();
/*Включаем прерывание INT0(высотомер)*/
INT0_Init();
/*Разрешаем работу прерываний*/
sei();
/*Настраиваем Modbus*/
eMBErrorCode eStatus = eMBInit( MB_RTU, 0x01, 0, 57600, MB_PAR_NONE );
eStatus = eMBEnable();
/*Настраиваем сенсоры*/
SensorsInit();
/*Загружаем в Holding Registers и в массив параметров значения из EEPROM*/
ModbusInitValues();
filterInit();
while(1)
{
/*Актуализируем значения Modbus-регистров в соответствии со значениями параметров*/
ModbusLoader();
/*Актуализируем значения параметров в соответствии со значениями Holding Registers*/
ModbusSaver();
/*Итерация Modbus*/
eMBPoll();
/*Ресурсоемкий расчет курса*/
Course_Calc();
}
}
static void setupHardware(void) {
// TODO: Put hardware configuration and initialisation in here
SystemInit();
resetGPIO();
setInput_P2();
ADCInit(ADC_CLK);
//resetto il termometro
pinMode(OUTPUT);
digitalWrite(HIGH);
Initial_Hardware(); //init lcd hardware
Initial_GLCD_Hor(); //init lcd "software"
bg_color(BLACK);
int sto_premendo = 0;
eMBErrorCode eStatus;
eStatus = eMBInit( MB_RTU, 0x0A, 0, 38400, MB_PAR_NONE );
/* Initialize the holding register values before starting the
* Modbus stack
*/
int i;
for( i = 0; i < REG_HOLDING_NREGS; i++ )
{
usRegHoldingBuf[i] = 0;
}
sensors.distance1 = 1;
sensors.distance2 = 2;
sensors.lumino = 3;
sensors.mic = 4;
sensors.vibro = 5;
actual_DHT11.humidity = 666;
actual_DHT11.temperature = 666;
//associo ai registri holding il valore dei sensori
*(usRegHoldingBuf ) = (USHORT *) &sensors.distance1;
*(usRegHoldingBuf + 1 ) = (USHORT *) &sensors.distance2;
*(usRegHoldingBuf + 2 ) = (USHORT *) &sensors.lumino;
*(usRegHoldingBuf + 3 ) = (USHORT *) &sensors.mic;
*(usRegHoldingBuf + 4 ) = (USHORT *) &sensors.vibro;
*(usRegHoldingBuf + 5 ) = (USHORT *) &actual_DHT11.humidity;
*(usRegHoldingBuf + 6 ) = (USHORT *) &actual_DHT11.temperature;
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
// Warning: If you do not initialize the hardware clock, the timings will be inaccurate
}
int main( int argc, char *argv[] )
{
int c;
int option_index = 0;
char *ttydev = DEFAULT_TTY;
char *parity_s = DEFAULT_PAR;
int parity;
int baud = DEFAULT_BAUD;
int reg_start = DEFAULT_REGISTER_START;
int address = DEFAULT_ADDRESS;
char *reg_type = NULL;
int regt = -1;
char *reg_action = NULL;
USHORT usLen;
UCHAR *pucFrame;
eMBErrorCode err = MB_ENOERR;
/* Parse cmd-line options */
while ( (c = getopt_long (argc, argv, "hVd:s:p:r:t:c:a:", long_options, &option_index)) != EOF ) {
switch (c) {
case 'h':
fprintf(stderr, "%s", helptext);
exit(EXIT_SUCCESS);
case 'V':
exit(EXIT_SUCCESS);
case 'd':
ttydev = strndup(optarg, MAXLEN);
break;
case 's':
baud = atoi(optarg);
break;
case 'p':
parity_s = strndup(optarg, MAXLEN);
break;
case 'r':
reg_start = (int)strtod(optarg, NULL);
break;
case 't':
reg_type = strndup(optarg, MAXLEN);
break;
case 'c':
reg_action = strndup(optarg, MAXLEN);
break;
case 'a':
address = (int)strtod(optarg, NULL);
break;
case '?':
/* getopt_long already printed an error message. */
default:
fprintf(stderr, "%s", helptext);
exit(EXIT_SUCCESS);
}
}
if(argc <= 1) {
fprintf(stderr, "%s", helptext);
exit(EXIT_FAILURE);
}
/* Allocate space for an ADU frame */
pucFrame = eMBAllocateFrame(&usLen);
/* Parse user inputs... */
if(strcmp(parity_s, "even") == 0)
parity = MB_PAR_EVEN;
else if(strcmp(parity_s, "odd") == 0)
parity = MB_PAR_ODD;
else
parity = MB_PAR_NONE;
if(reg_start < 0 || reg_start > 0xffff) {
fprintf(stderr, "Error! Modbus register out of range. Must be within (0x0-0xffff)\n");
exit(EXIT_FAILURE);
}
if(reg_type) {
if(strcmp(reg_type, "coils" ) == 0) {
regt = MB_TYPE_COILS;
} else if(strcmp(reg_type, "input" ) == 0) {
regt = MB_TYPE_INPUT;
} else if(strcmp(reg_type, "holding" ) == 0) {
regt = MB_TYPE_HOLDING;
} else if(strcmp(reg_type, "slaveid" ) == 0) {
regt = MB_TYPE_SLAVEID;
build_eMBMasterGetSlaveID (pucFrame, &usLen);
} else {
fprintf(stderr, "Error! Unknown register type (%s). Known types are: coils\n", reg_type);
exit(EXIT_FAILURE);
}
} else {
fprintf(stderr, "Error! No register type (-t) specified\n");
exit(EXIT_FAILURE);
}
if(reg_action) {
if(regt == MB_TYPE_COILS) {
if(strncmp(reg_action, "read", 4) == 0) {
int val;
if(sscanf(reg_action, "%*s %i", &val) != 1) {
fprintf(stderr, "Error! No number of coils specified.\n");
exit(EXIT_FAILURE);
}
if(val%8 == 0) {
build_eMBMasterReadCoils (pucFrame, reg_start, val, &usLen);
} else {
fprintf(stderr, "Error! Invalid coil value (%d). Must be a multiple of 8.\n", val);
exit(EXIT_FAILURE);
}
} else if(strncmp(reg_action, "writesingle", 11) == 0) {
char buf[4];
if(sscanf(reg_action, "%*s %3[FNO]", buf) != 1) {
fprintf(stderr, "Error! No coil value specified (ON/OFF).\n");
exit(EXIT_FAILURE);
}
if(strcmp(buf, "ON") == 0)
build_eMBMasterWriteCoils (pucFrame, reg_start, 0xff, &usLen);
else
build_eMBMasterWriteCoils (pucFrame, reg_start, 0x0, &usLen);
} else if(strncmp(reg_action, "writemultiple", 13) == 0) {
int no;
char buf[4];
if( sscanf(reg_action, "%*s %i %3[FNO]", &no, buf) != 2) {
fprintf(stderr, "Error! Invalid value specified.\n");
exit(EXIT_FAILURE);
}
if(strcmp(buf, "ON") == 0)
build_eMBMasterWriteMultipleCoils (pucFrame, reg_start, no, 0xff, &usLen);
else
build_eMBMasterWriteMultipleCoils (pucFrame, reg_start, no, 0x0, &usLen);
} else {
fprintf(stderr, "Error! Unknown command type (%s).\n", reg_action);
exit(EXIT_FAILURE);
}
} else if(regt == MB_TYPE_INPUT) {
if(strncmp(reg_action, "read", 4) == 0) {
int val;
if(sscanf(reg_action, "%*s %i", &val) != 1) {
fprintf(stderr, "Error! No number of registers specified.\n");
exit(EXIT_FAILURE);
}
if(build_eMBMasterReadInput (pucFrame, reg_start, val, &usLen) != MB_ENOERR) {
fprintf(stderr, "Error! Wrong register count. Must be between 1 and 125 (0x7d)\n");
exit(EXIT_FAILURE);
}
}
} else if(regt == MB_TYPE_HOLDING) {
if(strncmp(reg_action, "read", 4) == 0) {
int val;
if(sscanf(reg_action, "%*s %i", &val) != 1) {
fprintf(stderr, "Error! No number of registers specified.\n");
exit(EXIT_FAILURE);
}
if(build_eMBMasterReadHolding (pucFrame, reg_start, val, &usLen) != MB_ENOERR) {
fprintf(stderr, "Error! Wrong register count. Must be between 1 and 125 (0x7d)\n");
exit(EXIT_FAILURE);
}
printf("%s():%d - build_eMBMasterReadHolding(pucFramem, %d, %d, %d)\n",
__FUNCTION__, __LINE__,
reg_start, val, usLen);
} else if(strncmp(reg_action, "writesingle", 11) == 0) {
int val;
if( sscanf(reg_action, "%*s %i", &val) != 1) {
fprintf(stderr, "Error! Invalid value specified.\n");
exit(EXIT_FAILURE);
}
if(build_eMBMasterWriteSingleHolding (pucFrame, reg_start, val, &usLen) != MB_ENOERR) {
fprintf(stderr, "Error!\n");
exit(EXIT_FAILURE);
}
}
}
} else {
fprintf(stderr, "Error! No command (-c) specified.\n");
exit(EXIT_FAILURE);
}
/* mode, port, baud, parity */
eMBMasterInit(MB_RTU, ttydev, baud, parity);
/* ? */
eMBEnable();
/* Set the address of the device in question */
eMBSetSlaveAddress(address);
/* Send the frame */
if( (err = eMBSendFrame(pucFrame, usLen)) != MB_ENOERR) {
printf("Error sending frame (%d).\n", err);
exit(EXIT_FAILURE);
}
eMBException eException;
eException = MB_EX_ILLEGAL_FUNCTION;
UCHAR ucFuncType = pucFrame[MB_PDU_FUNC_OFF];
USHORT retval[255];
if(ucFuncType & 0x80) {
UCHAR ucExceptType = pucFrame[MB_PDU_FUNC_OFF+1];
/* We encountered some sort of error */
switch(ucExceptType) {
case MB_EX_ILLEGAL_FUNCTION:
fprintf(stderr, "Error! Illegal function!\n");
break;
case MB_EX_ILLEGAL_DATA_ADDRESS:
fprintf(stderr, "Error! Illegal data address!\n");
break;
case MB_EX_ILLEGAL_DATA_VALUE:
fprintf(stderr, "Error! Illegal data value!\n");
break;
case MB_EX_SLAVE_DEVICE_FAILURE:
fprintf(stderr, "Error! Slave device failure!\n");
break;
default:
fprintf(stderr, "Unknown error (%d)!\n", eException);
break;
}
} else {
switch(ucFuncType) {
case MB_FUNC_READ_COILS:
eException = parse_eMBMasterReadCoils(pucFrame, &usLen, (void *)retval);
printf("Reply: %04x\n", retval[0]);
break;
case MB_FUNC_WRITE_SINGLE_COIL:
eException = parse_eMBMasterWriteCoils(pucFrame, &usLen, (void *)retval);
printf("Reply: %04x\n", retval[0]);
break;
case MB_FUNC_READ_INPUT_REGISTER:
eException = parse_eMBMasterReadInput(pucFrame, &usLen, (void *)retval);
printf("Reply (%d): %04x\n", eException, retval[0]);
break;
case MB_FUNC_READ_HOLDING_REGISTER:
eException = parse_eMBMasterReadHolding(pucFrame, &usLen, (void *)retval);
printf("Reply: %04x\n", retval[0]);
break;
case MB_FUNC_WRITE_REGISTER:
eException = parse_eMBMasterWriteSingleHolding(pucFrame, &usLen, (void *)retval);
printf("Reply: %04x\n", retval[0]);
break;
case MB_FUNC_WRITE_MULTIPLE_COILS:
usLen = 5;
eException = parse_eMBMasterWriteMultipleCoils(pucFrame, &usLen, (void *)retval);
if(eException == MB_EX_NONE)
printf("Write multiple coils SUCCESS!\n");
else
printf("Write multiple coils FAIL!\n");
break;
default:
printf("Unknown function type : %x\n", ucFuncType);
printf("%d : %s()\n", __LINE__, __FUNCTION__);
{
int n;
for(n=0; n<10; n++)
printf("%02x ",pucFrame[n]);
printf("\n");
}
break;
}
}
#ifdef DBG
printf("%d : %s()\n", __LINE__, __FUNCTION__);
{
int j;
for(j=0; j<usLen; j++)
printf("%02x ", pucFrame[j]);
printf("\n");
}
#endif
eMBClose();
return 0;
}
int main(void)
{
systemInit();
TIM_Cmd(TIM3, ENABLE);
//启动FreeModbus
eMBEnable();
while(1)
{
//FreeModbus不断查询
eMBPoll();
//Botton_Control();
//本地按键控制查询
bottonValue=Botton_Scan(1);
if(bottonValue)
{
bottonPressed=True;
switch(bottonValue)
{
case BottonUp:
bollardControlType=Control_Bollard_Up;
break;
case BottonDown:
bollardControlType=Control_Bollard_Down;
break;
case BottonStop:
bollardControlType=Control_Bollard_Stop;
break;
}
}
//限位到达查询
limitValuePre=limitValue;
limitValue=Limit_Scan();
if((limitValue)&&(limitValue!=limitValuePre))
{
limitReach=True;
}
//升降柱状态查询
bollardStatusPre=bollardStatus;
bollardStatus=Bollard_Status_Scan();
if(bollardStatus!=bollardStatusPre)
{
statusChange=True;
}
if(synchroOnOff==1)
{
//级联输入查询
cascadeConnectionPre=cascadeConnection;
cascadeConnection=Cascade_Connection_Scan();
if(cascadeConnection&&(cascadeConnection!=cascadeConnectionPre))
{
cascadeConnectionAft=cascadeConnection;
cascadeChange=True;
}
}
if(groundCoilOnOff==1)
{
groundCoilStatus=Ground_Coil_Scan();
if((bollardStatus!=Emergency) && groundCoilStatus && controlOn && (BollardControlUp==ControlEnable))
{
BollardControlUp=ControlDisable;
controlOn=0;
TIM_Cmd(TIM2,DISABLE);
TIM_SetCounter(TIM2,0);//
//event save
}
}
}
}
void
main( void )
{
eMBErrorCode eStatus;
/* Use external 32.768 Hz crystal to generate 4.194.304 Hz bus clock */
ICGC1 = 0x38; // ??=0,RANGE=0,REFS=1,CLKS=1:1,OSCSTEN=0,??=0:0
while( ICGS2_DCOS == 0 );
#if 0
/* Test code for porting
*/
#if 1
/* Timer test
* Comment out call to pxMBPortCBTimerExpired() in prvvTIMERExpiredISR when testing the timer
*/
/* Disable the COP watchdog */
SOPT = 0x53; // COPE=0,COPT=1,STOPE=0,??=1:0:0,BKGDPE=1,??=1
( void )xMBPortTimersInit( 20000 );
EnableInterrupts;
for( ;; )
{
vMBPortTimersEnable( );
_Wait; // wait for an interrupt
/* toggle LED1 */
PTFD_PTFD0 = !PTFD_PTFD0;
PTFDD_PTFDD0 = 1;
}
#else
/* Receiver test
* Comment out call to pxMBFrameCBByteReceived() in prvvUARTRxISR() when testing the receiver
*/
/* Disable the COP watchdog */
SOPT = 0x53; // COPE=0,COPT=1,STOPE=0,??=1:0:0,BKGDPE=1,??=1
/* Enable the receiver. */
assert( xMBPortSerialInit( 0, 9600, 8, MB_PAR_NONE ) );
EnableInterrupts;
for( ;; )
{
UCHAR ucByte;
vMBPortSerialEnable( TRUE, FALSE );
_Wait; // wait for an interrupt
assert( xMBPortSerialGetByte( &ucByte ) );
/* toggle LED1 */
PTFD_PTFD0 = !PTFD_PTFD0;
PTFDD_PTFDD0 = 1;
/* Transmitter test
* Comment out call to pxMBFrameCBTransmitterEmpty() in prvvUARTTxReadyISR() when testing the transmitter
*/
#if 0
vMBPortSerialEnable( FALSE, TRUE );
assert( xMBPortSerialPutByte( ucByte ) );
_Wait; // wait for an interrupt
/* toggle LED1 */
PTFD_PTFD0 = !PTFD_PTFD0;
#endif // Transmitter test
}
#endif // Receiver test
#else
/* Demo
* NOTE: Make sure the callbacks in the three ISPs have been restored after above testing
*/
/* Initialization */
eStatus = eMBInit( MB_RTU, 0x0A, 0, 38400, MB_PAR_EVEN );
// eStatus = eMBInit( MB_ASCII, 0x0A, 0, 38400, MB_PAR_EVEN );
/* Enable the Modbus Protocol Stack. */
eStatus = eMBEnable( );
/* Start polling */
EnableInterrupts;
for( ;; )
{
/* Poll for Modbus events */
( void )eMBPoll( );
/* Count the number of polls */
usRegInputBuf[0]++;
/* Count the number of timer overflows */
if( TPM1SC_TOF )
{
TPM1SC_TOF = 0;
ENTER_CRITICAL_SECTION( );
if( ++usRegInputBuf[1] == 0 ) // Happens every 2 seconds
usRegInputBuf[2]++; // Happens every 36.4 hours
EXIT_CRITICAL_SECTION( );
}
/* Keep the COP watchdog happy */
__RESET_WATCHDOG( );
}
#endif // Test code when porting
}
static inline int modbus_initialize(void)
{
eMBErrorCode mberr;
int status;
/* Verify that we are in the stopped state */
if (g_modbus.threadstate != STOPPED)
{
fprintf(stderr, "modbus_main: "
"ERROR: Bad state: %d\n", g_modbus.threadstate);
return EINVAL;
}
/* Initialize the ModBus demo data structures */
status = pthread_mutex_init(&g_modbus.lock, NULL);
if (status != 0)
{
fprintf(stderr, "modbus_main: "
"ERROR: pthread_mutex_init failed: %d\n", status);
return status;
}
status = ENODEV;
/* Initialize the FreeModBus library.
*
* MB_RTU = RTU mode
* 0x0a = Slave address
* CONFIG_EXAMPLES_MODBUS_PORT = port, default=0 (i.e., /dev/ttyS0)
* CONFIG_EXAMPLES_MODBUS_BAUD = baud, default=B38400
* CONFIG_EXAMPLES_MODBUS_PARITY = parity, default=MB_PAR_EVEN
*/
mberr = eMBInit(MB_RTU, 0x0a, CONFIG_EXAMPLES_MODBUS_PORT,
CONFIG_EXAMPLES_MODBUS_BAUD, CONFIG_EXAMPLES_MODBUS_PARITY);
if (mberr != MB_ENOERR)
{
fprintf(stderr, "modbus_main: "
"ERROR: eMBInit failed: %d\n", mberr);
goto errout_with_mutex;
}
/* Set the slave ID
*
* 0x34 = Slave ID
* true = Is running (run indicator status = 0xff)
* g_slaveid = Additional values to be returned with the slave ID
* 3 = Length of additional values (in bytes)
*/
mberr = eMBSetSlaveID(0x34, true, g_slaveid, 3);
if (mberr != MB_ENOERR)
{
fprintf(stderr, "modbus_main: "
"ERROR: eMBSetSlaveID failed: %d\n", mberr);
goto errout_with_modbus;
}
/* Enable FreeModBus */
mberr = eMBEnable();
if (mberr != MB_ENOERR)
{
fprintf(stderr, "modbus_main: "
"ERROR: eMBEnable failed: %d\n", mberr);
goto errout_with_modbus;
}
/* Successfully initialized */
g_modbus.threadstate = RUNNING;
return OK;
errout_with_modbus:
/* Release hardware resources. */
(void)eMBClose();
errout_with_mutex:
/* Free/uninitialize data structures */
(void)pthread_mutex_destroy(&g_modbus.lock);
g_modbus.threadstate = STOPPED;
return status;
}