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497 lines
15 KiB
C++
497 lines
15 KiB
C++
4 weeks ago
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/*
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* ModbusRTUTransceiver.cpp
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*
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* Author: Aleksey Gerasimenko
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* gerasimenko.aleksey.n@gmail.com
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*/
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#include "MODBUSRTU/ModbusRTUTransceiver.h"
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namespace MODBUSRTU
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{
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//CONSTRUCTOR
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//ModbusRTUTransceiver::ModbusRTUTransceiver(DSP28335::SCIBase& sciport, DSP28335::CPUTimers& cputimer, MODBUSRTU::ModbusRTUCRC& crc):
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ModbusRTUTransceiver::ModbusRTUTransceiver(DSP28335::SCIBase& sciport, DSP28335::MeasureTimeInterval& interval_measure, MODBUSRTU::ModbusRTUCRC& crc):
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m_sci_port(sciport),
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m_sci_config(),
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m_node_id(0),
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//
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m_state_machine(MODBUSRTU::SCAN),
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m_event(MODBUSRTU::ENTRY),
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//
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//m_interval(cputimer.CPUTimer),
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m_interval_measure(interval_measure),
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m_interval_pause((Uint32)0),
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m_interval_b5((Uint32)0),
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m_interval_b75((Uint32)0),
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m_interval_1b((Uint32)0),
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m_interval_1b25((Uint32)0),
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m_interval_1b5((Uint32)0),
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m_interval_1b75((Uint32)0),
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m_interval_3b5((Uint32)0),
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m_interval_freeze((Uint32)0),
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m_interval_current((Uint32)0),
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//
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m_rx_buffer(),
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m_tx_buffer(),
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m_rx_count(0),
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m_tx_count(0),
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m_tx_length(0),
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//
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m_aux_rx_buf(0),
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m_aux_rx_count(0),
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m_aux_tx_buf(0),
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m_aux_tx_count(0),
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//
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m_crc_status(false),
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m_crc(crc),
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m_crc_rx_frame(0),
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m_crc_tx_frame(0),
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//
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m_rx_external_buffer(m_rx_buffer),
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m_tx_external_buffer(m_tx_buffer),
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m_rx_messaage_length(&m_rx_count),
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m_tx_message_length(&m_tx_count),
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//
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m_destination(0),
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m_source_start(0),
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m_source_end(0),
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m_copy_length(0),
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//
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_execute(&ModbusRTUTransceiver::_execute_transceiver),
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_frame_transceiver(&ModbusRTUTransceiver::_frame_receive_node_id),
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//
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_re_de_setup(&DSP28335::GPIO::gpio_scib_re_de_setup),
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_driver_enable(&DSP28335::GPIO::gpio_scib_re_de_set),
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_receiver_enable(&DSP28335::GPIO::gpio_scib_re_de_clear)
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//
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{}//CONSTRUCTOR
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void ModbusRTUTransceiver::setup(ModbusRTUTransceiverSetup& setup)
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{
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//m_interval.setup();
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_re_de_setup = setup.gpio_re_de_setup;
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_driver_enable = setup.gpio_driver_enable;
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_receiver_enable = setup.gpio_receiver_enable;
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(*_re_de_setup)();
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_set_receive_node_id();
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//
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}//
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//
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void ModbusRTUTransceiver::configure(ModbusRTUTransceiverConfiguration& config)
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{
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m_sci_config = config.config;
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m_node_id = config.node_id;
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if(!m_sci_port.compare_configuration(m_sci_config))
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{
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m_sci_port.set_configuration(m_sci_config);
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//
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}//if
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switch(m_sci_config.baudrate)
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{
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case DSP28335::BR2400: {m_interval_b5 = (Uint32)250000; m_interval_b75 = (Uint32)375000; m_interval_1b = (Uint32)500000; m_interval_1b25 = (Uint32)625000; m_interval_1b5 = (Uint32)750000; m_interval_1b75 = (Uint32)875000; m_interval_3b5 = (Uint32)1750000; m_interval_freeze = (Uint32)2000000; break;}
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case DSP28335::BR4800: {m_interval_b5 = (Uint32)125000; m_interval_b75 = (Uint32)187500; m_interval_1b = (Uint32)250000; m_interval_1b25 = (Uint32)312500; m_interval_1b5 = (Uint32)375000; m_interval_1b75 = (Uint32)250000; m_interval_3b5 = (Uint32) 875000; m_interval_freeze = (Uint32)1000000; break;}
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case DSP28335::BR9600: {m_interval_b5 = (Uint32) 62500; m_interval_b75 = (Uint32) 93750; m_interval_1b = (Uint32)125000; m_interval_1b25 = (Uint32)156250; m_interval_1b5 = (Uint32)187500; m_interval_1b75 = (Uint32)218750; m_interval_3b5 = (Uint32) 437500; m_interval_freeze = (Uint32) 500000; break;}
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case DSP28335::BR19200: {m_interval_b5 = (Uint32) 31250; m_interval_b75 = (Uint32) 46875; m_interval_1b = (Uint32) 62500; m_interval_1b25 = (Uint32)78125; m_interval_1b5 = (Uint32) 93750; m_interval_1b75 = (Uint32)109375; m_interval_3b5 = (Uint32) 218750; m_interval_freeze = (Uint32) 250000; break;}
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case DSP28335::BR38400: {m_interval_b5 = (Uint32)15625; m_interval_b75 = (Uint32)23437; m_interval_1b = (Uint32) 31250; m_interval_1b25 = (Uint32)39062; m_interval_1b5 = (Uint32) 46875; m_interval_1b75 = (Uint32) 54687; m_interval_3b5 = (Uint32) 109375; m_interval_freeze = (Uint32) 125000; break;}
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default: {m_interval_b5 = (Uint32)62500; m_interval_b75 = (Uint32)93750; m_interval_1b = (Uint32)125000; m_interval_1b25 = (Uint32)156250; m_interval_1b5 = (Uint32)187500; m_interval_1b75 = (Uint32)218750; m_interval_3b5 = (Uint32) 437500; m_interval_freeze = (Uint32) 500000; break;}
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}//switch
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m_interval_pause = m_interval_1b * 0.1;
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//m_interval_pause = m_interval_1b * 0.2;
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_set_receive_node_id();
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//
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}//
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//
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void ModbusRTUTransceiver::port_reset()
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{
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m_sci_port.set_configuration(m_sci_config);
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_set_receive_node_id();
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//
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}//
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//
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bool ModbusRTUTransceiver::compare_state(MODBUSRTU::transceiver_state_machine_t state_machine)
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{
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return m_state_machine == state_machine;
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//
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}//
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//
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void ModbusRTUTransceiver::execute()
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{
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(this->*_execute)();
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//
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}//
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//
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void ModbusRTUTransceiver::_execute_transceiver()
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{
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if(m_sci_port.SciRegs.SCIRXST.bit.BRKDT)
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{
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_set_break_condition();
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//
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}//if
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//
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(this->*_frame_transceiver)();
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//
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}//
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//
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void ModbusRTUTransceiver::_execute_break()
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{
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//m_interval_current = m_interval.interval();
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//
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}//
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//
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void ModbusRTUTransceiver::setRXBuffer(uint16_t *bufferStart, uint16_t *messageLen)
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{
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m_rx_external_buffer = bufferStart;
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m_rx_messaage_length = messageLen;
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//
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}//
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//
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void ModbusRTUTransceiver::setTXBuffer(uint16_t *bufferStart, uint16_t *messageLen)
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{
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m_tx_external_buffer = bufferStart;
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m_tx_message_length = messageLen;
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//
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}//
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//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_set_receive_node_id()
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{
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m_state_machine = MODBUSRTU::SCAN;
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_frame_transceiver = &ModbusRTUTransceiver::_frame_receive_node_id;
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_execute = &ModbusRTUTransceiver::_execute_transceiver;
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(*_receiver_enable)();
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//
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}//
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//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_set_receive_function()
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{
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m_state_machine = MODBUSRTU::RECEIVE;
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_frame_transceiver = &ModbusRTUTransceiver::_frame_receive_function;
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_execute = &ModbusRTUTransceiver::_execute_transceiver;
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(*_receiver_enable)();
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//
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}//
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//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_set_receive_data()
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{
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m_state_machine = MODBUSRTU::RECEIVE;
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_frame_transceiver = &ModbusRTUTransceiver::_frame_receive_data;
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_execute = &ModbusRTUTransceiver::_execute_transceiver;
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(*_receiver_enable)();
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//
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}//
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//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_set_wait_response()
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{
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m_state_machine = MODBUSRTU::WAIT_RESPONSE;
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_frame_transceiver = &ModbusRTUTransceiver::_frame_wait_response;
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_execute = &ModbusRTUTransceiver::_execute_transceiver;
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(*_receiver_enable)();
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//
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}//
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//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_set_transmit_data()
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{
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m_state_machine = MODBUSRTU::TRANSMIT;
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_frame_transceiver = &ModbusRTUTransceiver::_frame_transmit_data;
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_execute = &ModbusRTUTransceiver::_execute_transceiver;
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(*_driver_enable)();
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//
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}//
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//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_set_break_condition()
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{
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m_state_machine = MODBUSRTU::BREAK;
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_frame_transceiver = &ModbusRTUTransceiver::_frame_break_condition;
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_execute = &ModbusRTUTransceiver::_execute_break;
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(*_receiver_enable)();
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//
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}//
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//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_frame_receive_node_id()
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{
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if(m_sci_port.SciRegs.SCIRXST.bit.RXRDY)
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{
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m_aux_rx_buf = m_sci_port.SciRegs.SCIRXBUF.bit.RXDT;
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while(m_sci_port.SciRegs.SCIRXST.bit.RXRDY){}
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if((m_node_id == m_aux_rx_buf)||(MODBUSRTU_FUNCTION_BROADCAST == m_aux_rx_buf))
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{
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m_rx_buffer[0] = m_aux_rx_buf;
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m_aux_rx_count = 1;
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m_interval_measure.start();
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_set_receive_function();
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//
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}//if
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}
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//
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}//
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//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_frame_receive_function()
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{
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if(m_sci_port.SciRegs.SCIRXST.bit.RXRDY)
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{
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m_aux_rx_buf = m_sci_port.SciRegs.SCIRXBUF.bit.RXDT;
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while(m_sci_port.SciRegs.SCIRXST.bit.RXRDY){}
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if(//(MODBUSRTU_FUNCTION_BROADCAST == m_aux_rx_buf)||
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(MODBUSRTU_FUNCTION_READ_COIL_STATUS == m_aux_rx_buf)||
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//(MODBUSRTU_FUNCTION_READ_INPUT_STATUS == m_aux_rx_buf)||
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(MODBUSRTU_FUNCTION_READ_HOLDING_REGISTERS == m_aux_rx_buf)||
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//(MODBUSRTU_FUNCTION_READ_INPUT_REGISTERS == m_aux_rx_buf)||
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(MODBUSRTU_FUNCTION_FORCE_SINGLE_COIL == m_aux_rx_buf)||
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(MODBUSRTU_FUNCTION_PRESET_SINGLE_REGISTER == m_aux_rx_buf)||
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(MODBUSRTU_FUNCTION_FORCE_MULTIPLE_COILS == m_aux_rx_buf)||
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(MODBUSRTU_FUNCTION_PRESET_MULTIPLE_REGISTERS == m_aux_rx_buf))
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{
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m_rx_buffer[1] = m_aux_rx_buf;
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m_aux_rx_count = 2;
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m_interval_measure.start();
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_set_receive_data();
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//
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}
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else
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{
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// wrong function, break receive
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m_interval_measure.stop();
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_set_receive_node_id();
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//
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}//if else
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//
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}
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else
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{
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m_interval_current = m_interval_measure.interval();
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if(m_interval_current > m_interval_1b5)
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{
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// exceed time interval, break receive
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m_interval_measure.stop();
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_set_receive_node_id();
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//
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}//if
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//
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}//if else
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//
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}//
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// #pragma CODE_SECTION("ramfuncs");
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void ModbusRTUTransceiver::_frame_receive_data()
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{
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if(m_sci_port.SciRegs.SCIRXST.bit.RXRDY)
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{
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m_aux_rx_buf = m_sci_port.SciRegs.SCIRXBUF.bit.RXDT;
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while(m_sci_port.SciRegs.SCIRXST.bit.RXRDY){}
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m_rx_buffer[m_aux_rx_count] = m_aux_rx_buf;
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m_aux_rx_count++;
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m_interval_measure.start();
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if(m_aux_rx_count >= 256)
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{
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// exceed count, break receive
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m_interval_measure.stop();
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_set_receive_node_id();
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//
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}//if
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//
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}
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else
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{
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m_interval_current = m_interval_measure.interval();
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if(m_interval_current >= m_interval_1b5)
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{
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//
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// count must be more then 4
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if(m_aux_rx_count > 4)
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{
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// stop receive, frame is ended
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// check message
|
||
|
|
m_rx_count = m_aux_rx_count;
|
||
|
|
|
||
|
|
m_crc_calculate = m_crc.calculate(m_rx_buffer, m_rx_count - 2);
|
||
|
|
|
||
|
|
m_crc_rx_frame = (m_rx_buffer[m_rx_count - 1] << 8) | m_rx_buffer[m_rx_count - 2];
|
||
|
|
|
||
|
|
m_crc_status = m_crc_calculate == m_crc_rx_frame ? true : false;
|
||
|
|
|
||
|
|
if(m_crc_status)
|
||
|
|
{
|
||
|
|
m_destination = m_rx_external_buffer;
|
||
|
|
m_source_start = m_rx_buffer;
|
||
|
|
m_source_end = m_rx_buffer + m_rx_count - 1;
|
||
|
|
m_copy_length = m_rx_count;
|
||
|
|
*m_rx_messaage_length = m_rx_count;
|
||
|
|
m_event = MODBUSRTU::RXREADY;
|
||
|
|
//_frame_copy();
|
||
|
|
_frame_copy_erase();
|
||
|
|
_set_wait_response();
|
||
|
|
//
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
m_interval_measure.stop();
|
||
|
|
_set_receive_node_id();
|
||
|
|
//
|
||
|
|
}//if else
|
||
|
|
//
|
||
|
|
}//
|
||
|
|
else
|
||
|
|
{
|
||
|
|
m_interval_measure.stop();
|
||
|
|
_set_receive_node_id();
|
||
|
|
//
|
||
|
|
}// if else
|
||
|
|
//
|
||
|
|
}//if
|
||
|
|
//
|
||
|
|
}//if else
|
||
|
|
//
|
||
|
|
}//
|
||
|
|
//
|
||
|
|
// #pragma CODE_SECTION("ramfuncs");
|
||
|
|
void ModbusRTUTransceiver::_frame_wait_response()
|
||
|
|
{
|
||
|
|
if(m_sci_port.SciRegs.SCIRXST.bit.RXRDY)
|
||
|
|
{
|
||
|
|
m_aux_rx_buf = m_sci_port.SciRegs.SCIRXBUF.bit.RXDT;
|
||
|
|
|
||
|
|
while(m_sci_port.SciRegs.SCIRXST.bit.RXRDY){}
|
||
|
|
|
||
|
|
// error protocol, reset message
|
||
|
|
m_interval_measure.stop();
|
||
|
|
_set_receive_node_id();
|
||
|
|
//
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
m_interval_current = m_interval_measure.interval();
|
||
|
|
if(m_interval_current >= m_interval_3b5)
|
||
|
|
{
|
||
|
|
m_interval_measure.stop();
|
||
|
|
_set_receive_node_id();
|
||
|
|
//
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if(*m_tx_message_length != 0)
|
||
|
|
{
|
||
|
|
// copy external tx buffer
|
||
|
|
m_tx_length = *m_tx_message_length;
|
||
|
|
m_source_start = m_tx_external_buffer;
|
||
|
|
m_source_end = m_tx_external_buffer + m_tx_length - 1;
|
||
|
|
m_destination = m_tx_buffer;
|
||
|
|
//_frame_copy_erase();
|
||
|
|
_frame_copy();
|
||
|
|
*m_tx_message_length = 0;
|
||
|
|
m_tx_count = 0;
|
||
|
|
_set_transmit_data();
|
||
|
|
_frame_transmit_data();
|
||
|
|
m_interval_measure.stop();
|
||
|
|
//
|
||
|
|
}//if
|
||
|
|
//
|
||
|
|
}//if else
|
||
|
|
//
|
||
|
|
}//if else
|
||
|
|
//
|
||
|
|
}//
|
||
|
|
//
|
||
|
|
// #pragma CODE_SECTION("ramfuncs");
|
||
|
|
void ModbusRTUTransceiver::_frame_transmit_data()
|
||
|
|
{
|
||
|
|
if(m_sci_port.SciRegs.SCICTL2.bit.TXRDY & m_sci_port.SciRegs.SCICTL2.bit.TXEMPTY)
|
||
|
|
{
|
||
|
|
// data was transmitted
|
||
|
|
if(m_tx_count >= m_tx_length)
|
||
|
|
{
|
||
|
|
// all message was transmitted
|
||
|
|
// break transmit mode, go to the receive mode
|
||
|
|
_set_receive_node_id();
|
||
|
|
//
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
m_sci_port.SciRegs.SCITXBUF = m_tx_buffer[m_tx_count];
|
||
|
|
|
||
|
|
while(m_sci_port.SciRegs.SCICTL2.bit.TXEMPTY == 1){}
|
||
|
|
|
||
|
|
m_tx_count++;
|
||
|
|
//
|
||
|
|
}//if else
|
||
|
|
//
|
||
|
|
}// if
|
||
|
|
//
|
||
|
|
}//
|
||
|
|
//
|
||
|
|
// #pragma CODE_SECTION("ramfuncs");
|
||
|
|
void ModbusRTUTransceiver::_frame_break_condition()
|
||
|
|
{
|
||
|
|
//
|
||
|
|
}//
|
||
|
|
//
|
||
|
|
// #pragma CODE_SECTION("ramfuncs");
|
||
|
|
inline void ModbusRTUTransceiver::_frame_copy()
|
||
|
|
{
|
||
|
|
while(m_source_start <= m_source_end)
|
||
|
|
{
|
||
|
|
*m_destination++ = *m_source_start++;
|
||
|
|
//
|
||
|
|
}//while
|
||
|
|
//
|
||
|
|
}//
|
||
|
|
//
|
||
|
|
// #pragma CODE_SECTION("ramfuncs");
|
||
|
|
inline void ModbusRTUTransceiver::_frame_copy_erase()
|
||
|
|
{
|
||
|
|
while(m_source_start <= m_source_end)
|
||
|
|
{
|
||
|
|
*m_destination++ = *m_source_start;
|
||
|
|
*m_source_start++ = 0;
|
||
|
|
//
|
||
|
|
}//while
|
||
|
|
//
|
||
|
|
}//
|
||
|
|
//
|
||
|
|
// #pragma CODE_SECTION("ramfuncs");
|
||
|
|
void ModbusRTUTransceiver::_frame_copy(uint16_t *source, uint16_t length, uint16_t *destination)
|
||
|
|
{
|
||
|
|
m_destination = destination;
|
||
|
|
m_source_start = source;
|
||
|
|
m_source_end = destination + length - 1;
|
||
|
|
m_copy_length = length;
|
||
|
|
|
||
|
|
while(m_source_start <= m_source_end)
|
||
|
|
{
|
||
|
|
*m_destination++ = *m_source_start++;
|
||
|
|
//
|
||
|
|
}//while
|
||
|
|
//
|
||
|
|
}//
|
||
|
|
//
|
||
|
|
|
||
|
|
} /* namespace MODBUSRTU */
|