/* Version 2.0.3 */
static int mb_init_connection (mb_host_t *host) /* {{{ */
{
int status;
if (host == NULL)
return (EINVAL);
#if COLLECT_DEBUG
modbus_set_debug (&host->connection, 1);
#endif
/* We'll do the error handling ourselves. */
modbus_set_error_handling (&host->connection, NOP_ON_ERROR);
if (host->conntype == MBCONN_TCP)
{
if ((host->port < 1) || (host->port > 65535))
host->port = MODBUS_TCP_DEFAULT_PORT;
DEBUG ("Modbus plugin: Trying to connect to \"%s\", port %i.",
host->node, host->port);
modbus_init_tcp (&host->connection,
/* host = */ host->node,
/* port = */ host->port);
}
else /* MBCONN_RTU */
{
DEBUG ("Modbus plugin: Trying to connect to \"%s\".", host->node);
modbus_init_rtu (&host->connection,
/* device = */ host->node,
/* baudrate = */ host->baudrate,
'N', 8, 1, 0);
}
status = modbus_connect (&host->connection);
if (status != 0)
{
ERROR ("Modbus plugin: modbus_connect (%s, %i) failed with status %i.",
host->node, host->port ? host->port : host->baudrate, status);
return (status);
}
host->is_connected = 1;
return (0);
} /* }}} int mb_init_connection */
int main(int argc, char** argv)
{
modbus_param_t mb_param;
int half_duplex = 0;
int c;
char ** svp;
int i;
int set_args_index = -1;
char set_args[MAX_SETS][MAX_STR];
char *device = NULL;
memset(set_args, 0, sizeof(set_args));
while( (c = getopt(argc, argv, "hnvd:s:")) != -1) {
switch(c){
case 's':
/* NOTE IMPORTANT! This block MUST COME FIRST in the switch, before any opts,
otherwise GCC or getopts or something gets the indexes all wrong */
// Thanks to http://stackoverflow.com/questions/3939157/c-getopt-multiple-value
// Special case the first arg
set_args_index = 0;
strcpy(set_args[0], optarg);
// Loop the rest
i=1;
while(optind < argc && *argv[optind] != '-'){
strcpy(set_args[i], argv[optind]);
if(debug > 0){
printf("getopts multiopt: %s %s\n", argv[optind], set_args[i] );
}
// Ugly but explicit
set_args_index++;
i++;
optind++;
}
break;
case 'h':
half_duplex = 1;
break;
case 'v':
debug = 1;
break;
case 'n':
dry = 1;
break;
case 'd':
device = optarg;
default:
break;
}
}
if(!device){
printf("need to give serial port on command line\n");
usage();
return(1);
}
/* Setup the serial port parameters */
modbus_init_rtu(&mb_param, device, 9600, "none", 8, 2, half_duplex);
if(debug > 0){
modbus_set_debug(&mb_param, TRUE);
}
/* Open the MODBUS connection */
if (modbus_connect(&mb_param) == -1) {
printf("ERROR Connection failed\n");
return(1);
}
if(debug > 0){
printf("We have %d set args to process...\n", set_args_index + 1);
}
i = set_args_index;
while(i >= 0){
printf("\nSetting values... %s\n", set_args[i]);
set_options(&mb_param, set_args[i]);
i--;
}
if(dry < 1 && set_args_index >= 0){
commit_options(&mb_param);
}
if(dry < 1){
read_values(&mb_param);
}
/* Close the MODBUS connection */
modbus_close(&mb_param);
return(0);
}
int main(int argc, char **argv)
{
int retval;
modbus_param_t mb_param;
haldata_t *haldata;
slavedata_t slavedata;
int hal_comp_id;
struct timespec loop_timespec, remaining;
int baud, bits, stopbits, debug, verbose;
char *device, *parity, *endarg;
int opt;
int argindex, argvalue;
done = 0;
// assume that nothing is specified on the command line
baud = 38400;
bits = 8;
stopbits = 1;
debug = 0;
verbose = 0;
device = "/dev/ttyS0";
parity = "odd";
/* slave / register info */
slavedata.slave = 1;
slavedata.read_reg_start = START_REGISTER_R;
slavedata.read_reg_count = NUM_REGISTERS_R;
slavedata.write_reg_start = START_REGISTER_W;
slavedata.write_reg_count = NUM_REGISTERS_R;
// process command line options
while ((opt=getopt_long(argc, argv, option_string, long_options, NULL)) != -1) {
switch(opt) {
case 'b': // serial data bits, probably should be 8 (and defaults to 8)
argindex=match_string(optarg, bitstrings);
if (argindex<0) {
printf("gs2_vfd: ERROR: invalid number of bits: %s\n", optarg);
retval = -1;
goto out_noclose;
}
bits = atoi(bitstrings[argindex]);
break;
case 'd': // device name, default /dev/ttyS0
// could check the device name here, but we'll leave it to the library open
if (strlen(optarg) > FILENAME_MAX) {
printf("gs2_vfd: ERROR: device node name is too long: %s\n", optarg);
retval = -1;
goto out_noclose;
}
device = strdup(optarg);
break;
case 'g':
debug = 1;
verbose = 1;
break;
case 'n': // module base name
if (strlen(optarg) > HAL_NAME_LEN-20) {
printf("gs2_vfd: ERROR: HAL module name too long: %s\n", optarg);
retval = -1;
goto out_noclose;
}
modname = strdup(optarg);
break;
case 'p': // parity, should be a string like "even", "odd", or "none"
argindex=match_string(optarg, paritystrings);
if (argindex<0) {
printf("gs2_vfd: ERROR: invalid parity: %s\n", optarg);
retval = -1;
goto out_noclose;
}
parity = paritystrings[argindex];
break;
case 'r': // Baud rate, 38400 default
argindex=match_string(optarg, ratestrings);
if (argindex<0) {
printf("gs2_vfd: ERROR: invalid baud rate: %s\n", optarg);
retval = -1;
goto out_noclose;
}
baud = atoi(ratestrings[argindex]);
break;
case 's': // stop bits, defaults to 1
argindex=match_string(optarg, stopstrings);
if (argindex<0) {
printf("gs2_vfd: ERROR: invalid number of stop bits: %s\n", optarg);
retval = -1;
goto out_noclose;
}
stopbits = atoi(stopstrings[argindex]);
break;
case 't': // target number (MODBUS ID), default 1
argvalue = strtol(optarg, &endarg, 10);
if ((*endarg != '\0') || (argvalue < 1) || (argvalue > 254)) {
printf("gs2_vfd: ERROR: invalid slave number: %s\n", optarg);
retval = -1;
goto out_noclose;
}
slavedata.slave = argvalue;
break;
case 'v': // verbose mode (print modbus errors and other information), default 0
verbose = 1;
break;
case 'h':
default:
usage(argc, argv);
exit(0);
break;
}
}
printf("%s: device='%s', baud=%d, bits=%d, parity='%s', stopbits=%d, address=%d, verbose=%d\n",
modname, device, baud, bits, parity, stopbits, slavedata.slave, debug);
/* point TERM and INT signals at our quit function */
/* if a signal is received between here and the main loop, it should prevent
some initialization from happening */
signal(SIGINT, quit);
signal(SIGTERM, quit);
/* Assume 38.4k O-8-1 serial settings, device 1 */
modbus_init_rtu(&mb_param, device, baud, parity, bits, stopbits, verbose);
mb_param.debug = debug;
/* the open has got to work, or we're out of business */
if (((retval = modbus_connect(&mb_param))!=0) || done) {
printf("%s: ERROR: couldn't open serial device\n", modname);
goto out_noclose;
}
/* create HAL component */
hal_comp_id = hal_init(modname);
if ((hal_comp_id < 0) || done) {
printf("%s: ERROR: hal_init failed\n", modname);
retval = hal_comp_id;
goto out_close;
}
/* grab some shmem to store the HAL data in */
haldata = (haldata_t *)hal_malloc(sizeof(haldata_t));
if ((haldata == 0) || done) {
printf("%s: ERROR: unable to allocate shared memory\n", modname);
retval = -1;
goto out_close;
}
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->stat1), hal_comp_id, "%s.status-1", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->stat2), hal_comp_id, "%s.status-2", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->freq_cmd), hal_comp_id, "%s.frequency-command", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->freq_out), hal_comp_id, "%s.frequency-out", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->curr_out), hal_comp_id, "%s.output-current", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->DCBusV), hal_comp_id, "%s.DC-bus-volts", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->outV), hal_comp_id, "%s.output-voltage", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->RPM), hal_comp_id, "%s.motor-RPM", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->scale_freq), hal_comp_id, "%s.scale-frequency", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->power_factor), hal_comp_id, "%s.power-factor", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_OUT, &(haldata->load_pct), hal_comp_id, "%s.load-percentage", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->FW_Rev), hal_comp_id, "%s.firmware-revision", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_param_s32_newf(HAL_RW, &(haldata->errorcount), hal_comp_id, "%s.error-count", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_param_float_newf(HAL_RW, &(haldata->looptime), hal_comp_id, "%s.loop-time", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_param_s32_newf(HAL_RW, &(haldata->retval), hal_comp_id, "%s.retval", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->at_speed), hal_comp_id, "%s.at-speed", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->is_stopped), hal_comp_id, "%s.is-stopped", modname); // JET
if (retval!=0) goto out_closeHAL;
retval = hal_pin_float_newf(HAL_IN, &(haldata->speed_command), hal_comp_id, "%s.speed-command", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->spindle_on), hal_comp_id, "%s.spindle-on", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->spindle_fwd), hal_comp_id, "%s.spindle-fwd", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->spindle_rev), hal_comp_id, "%s.spindle-rev", modname); //JET
if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_IN, &(haldata->err_reset), hal_comp_id, "%s.err-reset", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_param_float_newf(HAL_RW, &(haldata->speed_tolerance), hal_comp_id, "%s.tolerance", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_param_float_newf(HAL_RW, &(haldata->motor_hz), hal_comp_id, "%s.nameplate-HZ", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_param_float_newf(HAL_RW, &(haldata->motor_RPM), hal_comp_id, "%s.nameplate-RPM", modname);
if (retval!=0) goto out_closeHAL;
retval = hal_param_s32_newf(HAL_RW, &(haldata->ack_delay), hal_comp_id, "%s.ack-delay", modname);
if (retval!=0) goto out_closeHAL;
/* make default data match what we expect to use */
*(haldata->stat1) = 0;
*(haldata->stat2) = 0;
*(haldata->freq_cmd) = 0;
*(haldata->freq_out) = 0;
*(haldata->curr_out) = 0;
*(haldata->DCBusV) = 0;
*(haldata->outV) = 0;
*(haldata->RPM) = 0;
*(haldata->scale_freq) = 0;
*(haldata->power_factor) = 0;
*(haldata->load_pct) = 0;
*(haldata->FW_Rev) = 0;
haldata->errorcount = 0;
haldata->looptime = 0.1;
haldata->motor_RPM = 1730;
haldata->motor_hz = 60;
haldata->speed_tolerance = 0.01;
haldata->ack_delay = 2;
*(haldata->err_reset) = 0;
*(haldata->spindle_on) = 0;
*(haldata->spindle_fwd) = 1;
*(haldata->spindle_rev) = 0;
haldata->old_run = -1; // make sure the initial value gets output
haldata->old_dir = -1;
haldata->old_err_reset = -1;
hal_ready(hal_comp_id);
/* here's the meat of the program. loop until done (which may be never) */
while (done==0) {
read_data(&mb_param, &slavedata, haldata);
write_data(&mb_param, &slavedata, haldata);
/* don't want to scan too fast, and shouldn't delay more than a few seconds */
if (haldata->looptime < 0.001) haldata->looptime = 0.001;
if (haldata->looptime > 2.0) haldata->looptime = 2.0;
loop_timespec.tv_sec = (time_t)(haldata->looptime);
loop_timespec.tv_nsec = (long)((haldata->looptime - loop_timespec.tv_sec) * 1000000000l);
nanosleep(&loop_timespec, &remaining);
}
retval = 0; /* if we get here, then everything is fine, so just clean up and exit */
out_closeHAL:
hal_exit(hal_comp_id);
out_close:
modbus_close(&mb_param);
out_noclose:
return retval;
}
