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ModbusSerial.cpp
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246 lines (201 loc) · 7.33 KB
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/*
ModbusSerial.cpp - Source for Modbus Serial Library
Copyright (C) 2014 André Sarmento Barbosa
*/
#include "ModbusSerial.h"
ModbusSerial::ModbusSerial() {
}
bool ModbusSerial::setSlaveId(byte slaveId){
_slaveId = slaveId;
return true;
}
byte ModbusSerial::getSlaveId() {
return _slaveId;
}
bool ModbusSerial::config(HardwareSerial* port, long baud, u_int format, int txPin) {
this->_port = port;
this->_txPin = txPin;
(*port).begin(baud, format);
delay(2000);
if (txPin >= 0) {
pinMode(txPin, OUTPUT);
digitalWrite(txPin, LOW);
}
if (baud > 19200) {
_t15 = 750;
_t35 = 1750;
} else {
_t15 = 15000000/baud; // 1T * 1.5 = T1.5
_t35 = 35000000/baud; // 1T * 3.5 = T3.5
}
return true;
}
#ifdef USE_SOFTWARE_SERIAL
bool ModbusSerial::config(SoftwareSerial* port, long baud, int txPin) {
this->_port = port;
this->_txPin = txPin;
(*port).begin(baud);
delay(2000);
if (txPin >= 0) {
pinMode(txPin, OUTPUT);
digitalWrite(txPin, LOW);
}
if (baud > 19200) {
_t15 = 750;
_t35 = 1750;
} else {
_t15 = 15000000/baud; // 1T * 1.5 = T1.5
_t35 = 35000000/baud; // 1T * 3.5 = T3.5
}
return true;
}
#endif
#ifdef __AVR_ATmega32U4__
bool ModbusSerial::config(Serial_* port, long baud, u_int format, int txPin) {
this->_port = port;
this->_txPin = txPin;
(*port).begin(baud, format);
while (!(*port));
if (txPin >= 0) {
pinMode(txPin, OUTPUT);
digitalWrite(txPin, LOW);
}
if (baud > 19200) {
_t15 = 750;
_t35 = 1750;
} else {
_t15 = 15000000/baud; // 1T * 1.5 = T1.5
_t35 = 35000000/baud; // 1T * 3.5 = T3.5
}
return true;
}
#endif
bool ModbusSerial::receive(byte* frame) {
//first byte of frame = address
byte address = frame[0];
//Last two bytes = crc
u_int crc = ((frame[_len - 2] << 8) | frame[_len - 1]);
//Slave Check
if (address != 0xFF && address != this->getSlaveId()) {
return false;
}
//CRC Check
if (crc != this->calcCrc(_frame[0], _frame+1, _len-3)) {
return false;
}
//PDU starts after first byte
//framesize PDU = framesize - address(1) - crc(2)
this->receivePDU(frame+1);
//No reply to Broadcasts
if (address == 0xFF) _reply = MB_REPLY_OFF;
return true;
}
bool ModbusSerial::send(byte* frame) {
byte i;
if (this->_txPin >= 0) {
digitalWrite(this->_txPin, HIGH);
delay(1);
}
for (i = 0 ; i < _len ; i++) {
(*_port).write(frame[i]);
}
(*_port).flush();
delayMicroseconds(_t35);
if (this->_txPin >= 0) {
digitalWrite(this->_txPin, LOW);
}
}
bool ModbusSerial::sendPDU(byte* pduframe) {
if (this->_txPin >= 0) {
digitalWrite(this->_txPin, HIGH);
delay(1);
}
//Send slaveId
(*_port).write(_slaveId);
//Send PDU
byte i;
for (i = 0 ; i < _len ; i++) {
(*_port).write(pduframe[i]);
}
//Send CRC
word crc = calcCrc(_slaveId, _frame, _len);
(*_port).write(crc >> 8);
(*_port).write(crc & 0xFF);
(*_port).flush();
delayMicroseconds(_t35);
if (this->_txPin >= 0) {
digitalWrite(this->_txPin, LOW);
}
}
void ModbusSerial::task() {
_len = 0;
while ((*_port).available() > _len) {
_len = (*_port).available();
delayMicroseconds(_t15);
}
if (_len == 0) return;
byte i;
_frame = (byte*) malloc(_len);
for (i=0 ; i < _len ; i++) _frame[i] = (*_port).read();
if (this->receive(_frame)) {
if (_reply == MB_REPLY_NORMAL)
this->sendPDU(_frame);
else
if (_reply == MB_REPLY_ECHO)
this->send(_frame);
}
free(_frame);
_len = 0;
}
/* Table of CRC values for high–order byte */
static const byte _auchCRCHi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40 };
/* Table of CRC values for low–order byte */
static const byte _auchCRCLo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
0x40 };
word ModbusSerial::calcCrc(byte address, byte* pduFrame, byte pduLen) {
byte CRCHi = 0xFF, CRCLo = 0x0FF, Index;
Index = CRCHi ^ address;
CRCHi = CRCLo ^ _auchCRCHi[Index];
CRCLo = _auchCRCLo[Index];
while (pduLen--) {
Index = CRCHi ^ *pduFrame++;
CRCHi = CRCLo ^ _auchCRCHi[Index];
CRCLo = _auchCRCLo[Index];
}
return (CRCHi << 8) | CRCLo;
}