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add modbus module

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add aglie_mmodbus

add agile_modbus and LICENSE

fix warning

add serialize deserialize API
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pikastech 2022-09-18 22:04:55 +08:00
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commit fc9562ccd6
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#include "_modbus__ModBus.h"
#include "_modbus__ModBusRTU.h"
#include "_modbus__ModBusTCP.h"
#include "agile_modbus.h"
void _modbus__ModBusRTU___init__(PikaObj* self,
int sendBUffSize,
int readBuffSize) {
agile_modbus_rtu_t ctx_rtu = {0};
agile_modbus_t* ctx = &ctx_rtu._ctx;
obj_setBytes(self, "sendBuff", NULL, sendBUffSize);
obj_setBytes(self, "readBuff", NULL, readBuffSize);
agile_modbus_rtu_init(&ctx_rtu, obj_getBytes(self, "sendBuff"),
sendBUffSize, obj_getBytes(self, "readBuff"),
readBuffSize);
obj_setStruct(self, "ctx_rtu", ctx_rtu);
obj_setPtr(self, "ctx", ctx);
}
void _modbus__ModBus_setSlave(PikaObj* self, int slave) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
agile_modbus_set_slave(ctx, slave);
}
void _modbus__ModBusTCP___init__(PikaObj* self,
int sendBuffSize,
int readBuffSize) {
agile_modbus_tcp_t ctx_tcp = {0};
agile_modbus_t* ctx = &ctx_tcp._ctx;
obj_setBytes(self, "sendBuff", NULL, sendBuffSize);
obj_setBytes(self, "readBuff", NULL, readBuffSize);
agile_modbus_tcp_init(&ctx_tcp, obj_getBytes(self, "sendBuff"),
sendBuffSize, obj_getBytes(self, "readBuff"),
readBuffSize);
obj_setStruct(self, "ctx_tcp", ctx_tcp);
obj_setPtr(self, "ctx", ctx);
}
int _modbus__ModBus_deserializeMaskWriteRegister(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_mask_write_register(ctx, msgLength);
}
int _modbus__ModBus_deserializeReadBits(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_read_bits(ctx, msgLength, dest);
}
int _modbus__ModBus_deserializeReadInputBits(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_read_input_bits(ctx, msgLength, dest);
}
int _modbus__ModBus_deserializeReadInputRegisters(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_read_input_registers(ctx, msgLength,
(uint16_t*)dest);
}
int _modbus__ModBus_deserializeReadRegisters(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_read_registers(ctx, msgLength,
(uint16_t*)dest);
}
int _modbus__ModBus_deserializeReportSlaveId(PikaObj* self,
int msgLength,
int maxDest,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_report_slave_id(ctx, msgLength, maxDest,
dest);
}
int _modbus__ModBus_deserializeWriteAndReadRegisters(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_and_read_registers(ctx, msgLength,
(uint16_t*)dest);
}
int _modbus__ModBus_deserializeWriteBit(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_bit(ctx, msgLength);
}
int _modbus__ModBus_deserializeWriteBits(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_bits(ctx, msgLength);
}
int _modbus__ModBus_deserializeWriteRegister(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_register(ctx, msgLength);
}
int _modbus__ModBus_deserializeWriteRegisters(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_registers(ctx, msgLength);
}
int _modbus__ModBus_serializeMaskWriteRegister(PikaObj* self,
int addr,
int andMask,
int orMask) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_mask_write_register(ctx, addr, andMask,
orMask);
}
int _modbus__ModBus_serializeReadBits(PikaObj* self, int addr, int nb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_read_bits(ctx, addr, nb);
}
int _modbus__ModBus_serializeReadInputBits(PikaObj* self, int addr, int nb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_read_input_bits(ctx, addr, nb);
}
int _modbus__ModBus_serializeReadInputRegisters(PikaObj* self,
int addr,
int nb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_read_input_registers(ctx, addr, nb);
}
int _modbus__ModBus_serializeReadRegisters(PikaObj* self, int addr, int nb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_read_registers(ctx, addr, nb);
}
int _modbus__ModBus_serializeReportSlaveId(PikaObj* self) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_report_slave_id(ctx);
}
int _modbus__ModBus_serializeWriteAndReadRegisters(PikaObj* self,
int writeAddr,
int writeNb,
uint8_t* src,
int readAddr,
int readNb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_and_read_registers(
ctx, writeAddr, writeNb, (uint16_t*)src, readAddr, readNb);
}
int _modbus__ModBus_serializeWriteBit(PikaObj* self, int addr, int status) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_bit(ctx, addr, status);
}
int _modbus__ModBus_serializeWriteBits(PikaObj* self,
int addr,
int nb,
uint8_t* src) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_bits(ctx, addr, nb, src);
}
int _modbus__ModBus_serializeWriteRegister(PikaObj* self, int addr, int value) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_register(ctx, addr, value);
}
int _modbus__ModBus_serializeWriteRegisters(PikaObj* self,
int addr,
int nb,
uint8_t* src) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_registers(ctx, addr, nb,
(uint16_t*)src);
}

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class _ModBus:
def setSlave(self, slave: int): ...
def serializeReadBits(self, addr: int, nb: int) -> int: ...
def deserializeReadBits(self, msgLength: int, dest: bytes) -> int: ...
def serializeReadInputBits(self, addr: int, nb: int) -> int: ...
def deserializeReadInputBits(self, msgLength: int, dest: bytes) -> int: ...
def serializeReadRegisters(self, addr: int, nb: int) -> int: ...
def deserializeReadRegisters(self, msgLength: int, dest: bytes) -> int: ...
def serializeReadInputRegisters(self, addr: int, nb: int) -> int: ...
def deserializeReadInputRegisters(self, msgLength: int, dest: bytes) -> int: ...
def serializeWriteBit(self, addr: int, status: int) -> int: ...
def deserializeWriteBit(self, msgLength: int) -> int: ...
def serializeWriteRegister(self, addr: int, value: int) -> int: ...
def deserializeWriteRegister(self, msgLength: int) -> int: ...
def serializeWriteBits(self, addr: int, nb: int, src: bytes) -> int: ...
def deserializeWriteBits(self, msgLength: int) -> int: ...
def serializeWriteRegisters(self, addr: int, nb: int, src: bytes) -> int: ...
def deserializeWriteRegisters(self, msgLength: int) -> int: ...
def serializeMaskWriteRegister(self, addr: int, andMask: int, orMask: int) -> int: ...
def deserializeMaskWriteRegister(self, msgLength: int) -> int: ...
def serializeWriteAndReadRegisters(self, writeAddr: int, writeNb: int, src: bytes, readAddr: int, readNb: int) -> int: ...
def deserializeWriteAndReadRegisters(self, msgLength: int, dest: bytes) -> int: ...
def serializeReportSlaveId(self) -> int: ...
def deserializeReportSlaveId(self, msgLength: int, maxDest: int, dest: bytes) -> int: ...
class _ModBusRTU(_ModBus):
def __init__(self, sendBuffSize: int, readBuffSize: int): ...
class _ModBusTCP(_ModBus):
def __init__(self, sendBuffSize: int, readBuffSize: int): ...

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/**
* @file agile_modbus.h
* @brief Agile Modbus 软件包通用头文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2022-07-28
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#ifndef __PKG_AGILE_MODBUS_H
#define __PKG_AGILE_MODBUS_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
/** @addtogroup COMMON
* @{
*/
/** @defgroup COMMON_Exported_Constants Common Exported Constants
* @{
*/
/** @defgroup Modbus_Function_Codes Modbus Function Codes
* @{
*/
#define AGILE_MODBUS_FC_READ_COILS 0x01
#define AGILE_MODBUS_FC_READ_DISCRETE_INPUTS 0x02
#define AGILE_MODBUS_FC_READ_HOLDING_REGISTERS 0x03
#define AGILE_MODBUS_FC_READ_INPUT_REGISTERS 0x04
#define AGILE_MODBUS_FC_WRITE_SINGLE_COIL 0x05
#define AGILE_MODBUS_FC_WRITE_SINGLE_REGISTER 0x06
#define AGILE_MODBUS_FC_READ_EXCEPTION_STATUS 0x07
#define AGILE_MODBUS_FC_WRITE_MULTIPLE_COILS 0x0F
#define AGILE_MODBUS_FC_WRITE_MULTIPLE_REGISTERS 0x10
#define AGILE_MODBUS_FC_REPORT_SLAVE_ID 0x11
#define AGILE_MODBUS_FC_MASK_WRITE_REGISTER 0x16
#define AGILE_MODBUS_FC_WRITE_AND_READ_REGISTERS 0x17
/**
* @}
*/
/** @defgroup Modbus_Constants Modbus Constants
* @{
*/
#define AGILE_MODBUS_VERSION_STRING "AMB_1.1.0" /**< Agile Modbus 版本号 */
#define AGILE_MODBUS_BROADCAST_ADDRESS 0 /**< Modbus 广播地址 */
/** @name Quantity limit of Coils
@verbatim
Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 1 page 12)
Quantity of Coils to read (2 bytes): 1 to 2000 (0x7D0)
(chapter 6 section 11 page 29)
Quantity of Coils to write (2 bytes): 1 to 1968 (0x7B0)
@endverbatim
* @{
*/
#define AGILE_MODBUS_MAX_READ_BITS 2000
#define AGILE_MODBUS_MAX_WRITE_BITS 1968
/**
* @}
*/
/** @name Quantity limit of Registers
@verbatim
Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 3 page 15)
Quantity of Registers to read (2 bytes): 1 to 125 (0x7D)
(chapter 6 section 12 page 31)
Quantity of Registers to write (2 bytes) 1 to 123 (0x7B)
(chapter 6 section 17 page 38)
Quantity of Registers to write in R/W registers (2 bytes) 1 to 121 (0x79)
@endverbatim
* @{
*/
#define AGILE_MODBUS_MAX_READ_REGISTERS 125
#define AGILE_MODBUS_MAX_WRITE_REGISTERS 123
#define AGILE_MODBUS_MAX_WR_WRITE_REGISTERS 121
#define AGILE_MODBUS_MAX_WR_READ_REGISTERS 125
/**
* @}
*/
/**
@verbatim
The size of the MODBUS PDU is limited by the size constraint inherited from
the first MODBUS implementation on Serial Line network (max. RS485 ADU = 256
bytes). Therefore, MODBUS PDU for serial line communication = 256 - Server
address (1 byte) - CRC (2 bytes) = 253 bytes.
@endverbatim
*/
#define AGILE_MODBUS_MAX_PDU_LENGTH 253
/**
@verbatim
Consequently:
- RTU MODBUS ADU = 253 bytes + Server address (1 byte) + CRC (2 bytes) = 256
bytes.
- TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes.
so the maximum of both backend in 260 bytes. This size can used to allocate
an array of bytes to store responses and it will be compatible with the two
backends.
@endverbatim
*/
#define AGILE_MODBUS_MAX_ADU_LENGTH 260
/**
* @}
*/
/**
* @}
*/
/** @defgroup COMMON_Exported_Types Common Exported Types
* @{
*/
/**
* @brief Modbus 异常码
*/
enum {
AGILE_MODBUS_EXCEPTION_ILLEGAL_FUNCTION = 0x01,
AGILE_MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS,
AGILE_MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE,
AGILE_MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE,
AGILE_MODBUS_EXCEPTION_ACKNOWLEDGE,
AGILE_MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY,
AGILE_MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE,
AGILE_MODBUS_EXCEPTION_MEMORY_PARITY,
AGILE_MODBUS_EXCEPTION_NOT_DEFINED,
AGILE_MODBUS_EXCEPTION_GATEWAY_PATH,
AGILE_MODBUS_EXCEPTION_GATEWAY_TARGET,
AGILE_MODBUS_EXCEPTION_UNKNOW = 0xff
};
/**
* @brief Modbus 后端类型
*/
typedef enum {
AGILE_MODBUS_BACKEND_TYPE_RTU = 0, /**< RTU */
AGILE_MODBUS_BACKEND_TYPE_TCP /**< TCP */
} agile_modbus_backend_type_t;
/**
* @brief Modbus 收到消息类型
*
@verbatim
---------- Request Indication ----------
| Client | ---------------------->| Server |
---------- Confirmation Response ----------
@endverbatim
*/
typedef enum {
AGILE_MODBUS_MSG_INDICATION, /**< 主机端的请求消息 */
AGILE_MODBUS_MSG_CONFIRMATION /**< 服务器端的请求消息 */
} agile_modbus_msg_type_t;
/**
* @brief 包含 modbus 头部参数结构体
*/
typedef struct agile_modbus_sft {
int slave; /**< 从机地址 */
int function; /**< 功能码 */
int t_id; /**< 事务标识符 */
} agile_modbus_sft_t;
typedef struct agile_modbus agile_modbus_t; /**< Agile Modbus 结构体 */
/**
* @brief Agile Modbus 后端接口结构体
*/
typedef struct agile_modbus_backend {
uint32_t backend_type; /**< 后端类型 */
uint32_t header_length; /**< 头部长度，不包含功能码 */
uint32_t checksum_length; /**< 校验数据长度 */
uint32_t max_adu_length; /**< 后端 ADU 长度 */
int (*set_slave)(agile_modbus_t *ctx, int slave); /**< 设置地址接口 */
int (*build_request_basis)(agile_modbus_t *ctx, int function, int addr,
int nb, uint8_t *req); /**< 构建基础请求报文接口 */
int (*build_response_basis)(agile_modbus_sft_t *sft, uint8_t *rsp); /**< 构建基础响应报文接口 */
int (*prepare_response_tid)(const uint8_t *req, int *req_length); /**< 准备响应接口 */
int (*send_msg_pre)(uint8_t *req, int req_length); /**< 预发送数据接口 */
int (*check_integrity)(agile_modbus_t *ctx, uint8_t *msg, const int msg_length); /**< 检查接收数据完整性接口 */
int (*pre_check_confirmation)(agile_modbus_t *ctx, const uint8_t *req,
const uint8_t *rsp, int rsp_length); /**< 预检查确认接口 */
} agile_modbus_backend_t;
/**
* @brief Agile Modbus 结构体
*/
struct agile_modbus {
int slave; /**< 从机地址 */
uint8_t *send_buf; /**< 发送缓冲区 */
int send_bufsz; /**< 发送缓冲区大小 */
uint8_t *read_buf; /**< 接收缓冲区 */
int read_bufsz; /**< 接收缓冲区大小 */
uint8_t (*compute_meta_length_after_function)(agile_modbus_t *ctx, int function,
agile_modbus_msg_type_t msg_type); /**< 自定义计算数据元长度接口 */
int (*compute_data_length_after_meta)(agile_modbus_t *ctx, uint8_t *msg,
int msg_length, agile_modbus_msg_type_t msg_type); /**< 自定义计算数据长度接口 */
const agile_modbus_backend_t *backend; /**< 后端接口 */
void *backend_data; /**< 后端数据，指向 RTU 或 TCP 结构体 */
};
/**
* @}
*/
/** @addtogroup Modbus_Slave
* @{
*/
/** @defgroup Slave_Exported_Types Slave Exported Types
* @{
*/
/**
* @brief Agile Modbus 从机信息结构体
*/
struct agile_modbus_slave_info {
agile_modbus_sft_t *sft; /**< sft 结构体指针 */
int *rsp_length; /**< 响应数据长度指针 */
int address; /**< 寄存器地址 */
int nb; /**< 数目 */
uint8_t *buf; /**< 不同功能码需要使用的数据域 */
int send_index; /**< 发送缓冲区当前索引 */
};
/**
* @brief 从机回调函数
* @param ctx modbus 句柄
* @param slave_info 从机信息体
* @param data 私有数据
* @return =0:正常;
* <0:异常
* (-AGILE_MODBUS_EXCEPTION_UNKNOW(-255): 未知异常，从机不会打包响应数据)
* (其他负数异常码: 从机会打包异常响应数据)
*/
typedef int (*agile_modbus_slave_callback_t)(agile_modbus_t *ctx, struct agile_modbus_slave_info *slave_info, const void *data);
/**
* @}
*/
/**
* @}
*/
/** @addtogroup COMMON_Exported_Functions
* @{
*/
void agile_modbus_common_init(agile_modbus_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz);
int agile_modbus_set_slave(agile_modbus_t *ctx, int slave);
void agile_modbus_set_compute_meta_length_after_function_cb(agile_modbus_t *ctx,
uint8_t (*cb)(agile_modbus_t *ctx, int function,
agile_modbus_msg_type_t msg_type));
void agile_modbus_set_compute_data_length_after_meta_cb(agile_modbus_t *ctx,
int (*cb)(agile_modbus_t *ctx, uint8_t *msg,
int msg_length, agile_modbus_msg_type_t msg_type));
int agile_modbus_receive_judge(agile_modbus_t *ctx, int msg_length, agile_modbus_msg_type_t msg_type);
/**
* @}
*/
/** @addtogroup Modbus_Master
* @{
*/
/** @addtogroup Master_Common_Operation_Functions
* @{
*/
int agile_modbus_serialize_read_bits(agile_modbus_t *ctx, int addr, int nb);
int agile_modbus_deserialize_read_bits(agile_modbus_t *ctx, int msg_length, uint8_t *dest);
int agile_modbus_serialize_read_input_bits(agile_modbus_t *ctx, int addr, int nb);
int agile_modbus_deserialize_read_input_bits(agile_modbus_t *ctx, int msg_length, uint8_t *dest);
int agile_modbus_serialize_read_registers(agile_modbus_t *ctx, int addr, int nb);
int agile_modbus_deserialize_read_registers(agile_modbus_t *ctx, int msg_length, uint16_t *dest);
int agile_modbus_serialize_read_input_registers(agile_modbus_t *ctx, int addr, int nb);
int agile_modbus_deserialize_read_input_registers(agile_modbus_t *ctx, int msg_length, uint16_t *dest);
int agile_modbus_serialize_write_bit(agile_modbus_t *ctx, int addr, int status);
int agile_modbus_deserialize_write_bit(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_write_register(agile_modbus_t *ctx, int addr, const uint16_t value);
int agile_modbus_deserialize_write_register(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_write_bits(agile_modbus_t *ctx, int addr, int nb, const uint8_t *src);
int agile_modbus_deserialize_write_bits(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_write_registers(agile_modbus_t *ctx, int addr, int nb, const uint16_t *src);
int agile_modbus_deserialize_write_registers(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_mask_write_register(agile_modbus_t *ctx, int addr, uint16_t and_mask, uint16_t or_mask);
int agile_modbus_deserialize_mask_write_register(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_write_and_read_registers(agile_modbus_t *ctx,
int write_addr, int write_nb,
const uint16_t *src,
int read_addr, int read_nb);
int agile_modbus_deserialize_write_and_read_registers(agile_modbus_t *ctx, int msg_length, uint16_t *dest);
int agile_modbus_serialize_report_slave_id(agile_modbus_t *ctx);
int agile_modbus_deserialize_report_slave_id(agile_modbus_t *ctx, int msg_length, int max_dest, uint8_t *dest);
/**
* @}
*/
/** @addtogroup Master_Raw_Operation_Functions
* @{
*/
int agile_modbus_serialize_raw_request(agile_modbus_t *ctx, const uint8_t *raw_req, int raw_req_length);
int agile_modbus_deserialize_raw_response(agile_modbus_t *ctx, int msg_length);
/**
* @}
*/
/**
* @}
*/
/** @addtogroup Modbus_Slave
* @{
*/
/** @addtogroup Slave_Operation_Functions
* @{
*/
int agile_modbus_slave_handle(agile_modbus_t *ctx, int msg_length, uint8_t slave_strict,
agile_modbus_slave_callback_t slave_cb, const void *slave_data, int *frame_length);
void agile_modbus_slave_io_set(uint8_t *buf, int index, int status);
uint8_t agile_modbus_slave_io_get(uint8_t *buf, int index);
void agile_modbus_slave_register_set(uint8_t *buf, int index, uint16_t data);
uint16_t agile_modbus_slave_register_get(uint8_t *buf, int index);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/* Include RTU and TCP module */
#include "agile_modbus_rtu.h"
#include "agile_modbus_tcp.h"
#ifdef __cplusplus
}
#endif
#endif /* __PKG_AGILE_MODBUS_H */

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/**
* @file agile_modbus_rtu.c
* @brief Agile Modbus 软件包 RTU 源文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2021-12-02
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#include "agile_modbus.h"
#include "agile_modbus_rtu.h"
/** @defgroup RTU RTU
* @{
*/
/** @defgroup RTU_Private_Constants RTU Private Constants
* @{
*/
/** Table of CRC values for high-order byte */
static const uint8_t _table_crc_hi[] =
{
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 uint8_t _table_crc_lo[] =
{
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};
/**
* @}
*/
/** @defgroup RTU_Private_Functions RTU Private Functions
* @{
*/
/**
* @brief RTU CRC16 计算
* @param buffer 数据指针
* @param buffer_length 数据长度
* @return CRC16 值
*/
static uint16_t agile_modbus_rtu_crc16(uint8_t *buffer, uint16_t buffer_length)
{
uint8_t crc_hi = 0xFF; /* high CRC byte initialized */
uint8_t crc_lo = 0xFF; /* low CRC byte initialized */
unsigned int i; /* will index into CRC lookup */
/* pass through message buffer */
while (buffer_length--) {
i = crc_hi ^ *buffer++; /* calculate the CRC */
crc_hi = crc_lo ^ _table_crc_hi[i];
crc_lo = _table_crc_lo[i];
}
return (crc_hi << 8 | crc_lo);
}
/**
* @brief RTU 设置地址接口
* @param ctx modbus 句柄
* @param slave 从机地址
* @return 0:成功
*/
static int agile_modbus_rtu_set_slave(agile_modbus_t *ctx, int slave)
{
ctx->slave = slave;
return 0;
}
/**
* @brief RTU 构建基础请求报文接口(头部报文)
* @param ctx modbus 句柄
* @param function 功能码
* @param addr 寄存器地址
* @param nb 寄存器数目
* @param req 数据存放指针
* @return 数据长度
*/
static int agile_modbus_rtu_build_request_basis(agile_modbus_t *ctx, int function,
int addr, int nb,
uint8_t *req)
{
req[0] = ctx->slave;
req[1] = function;
req[2] = addr >> 8;
req[3] = addr & 0x00ff;
req[4] = nb >> 8;
req[5] = nb & 0x00ff;
return AGILE_MODBUS_RTU_PRESET_REQ_LENGTH;
}
/**
* @brief RTU 构建基础响应报文接口(头部报文)
* @param sft modbus 头部参数结构体指针
* @param rsp 数据存放指针
* @return 数据长度
*/
static int agile_modbus_rtu_build_response_basis(agile_modbus_sft_t *sft, uint8_t *rsp)
{
rsp[0] = sft->slave;
rsp[1] = sft->function;
return AGILE_MODBUS_RTU_PRESET_RSP_LENGTH;
}
/**
* @brief RTU 准备响应接口
* @note 该 API 会将 req_length 自动减去 AGILE_MODBUS_RTU_CHECKSUM_LENGTH 长度
* @param req 请求数据指针
* @param req_length 请求数据长度
* @return 0 (RTU 没有事务标识符)
*/
static int agile_modbus_rtu_prepare_response_tid(const uint8_t *req, int *req_length)
{
(*req_length) -= AGILE_MODBUS_RTU_CHECKSUM_LENGTH;
/* No TID */
return 0;
}
/**
* @brief RTU 预发送数据接口
* @note 该 API 会计算 CRC16 并自动填入尾部
* @param req 数据存放指针
* @param req_length 已有数据长度
* @return 数据长度
*/
static int agile_modbus_rtu_send_msg_pre(uint8_t *req, int req_length)
{
uint16_t crc = agile_modbus_rtu_crc16(req, req_length);
req[req_length++] = crc >> 8;
req[req_length++] = crc & 0x00FF;
return req_length;
}
/**
* @brief RTU 检查接收数据完整性接口(CRC16 对比)
* @param ctx modbus 句柄
* @param msg 接收数据指针
* @param msg_length 有效数据长度
* @return >0:有效数据长度; 其他:异常
*/
static int agile_modbus_rtu_check_integrity(agile_modbus_t *ctx, uint8_t *msg, const int msg_length)
{
uint16_t crc_calculated;
uint16_t crc_received;
crc_calculated = agile_modbus_rtu_crc16(msg, msg_length - 2);
crc_received = (msg[msg_length - 2] << 8) | msg[msg_length - 1];
/* Check CRC of msg */
if (crc_calculated == crc_received)
return msg_length;
return -1;
}
/**
* @brief RTU 预检查确认接口(请求响应地址对比)
* @note 如果请求地址是广播地址0，返回成功
* @param ctx modbus 句柄
* @param req 请求数据指针
* @param rsp 响应数据指针
* @param rsp_length 响应数据长度
* @return 0:成功; 其他:异常
*/
static int agile_modbus_rtu_pre_check_confirmation(agile_modbus_t *ctx, const uint8_t *req,
const uint8_t *rsp, int rsp_length)
{
/* Check responding slave is the slave we requested (except for broacast
* request) */
if (req[0] != rsp[0] && req[0] != AGILE_MODBUS_BROADCAST_ADDRESS)
return -1;
return 0;
}
/**
* @}
*/
/** @addtogroup RTU_Private_Constants
* @{
*/
/**
* @brief RTU 后端接口
*/
static const agile_modbus_backend_t agile_modbus_rtu_backend =
{
AGILE_MODBUS_BACKEND_TYPE_RTU,
AGILE_MODBUS_RTU_HEADER_LENGTH,
AGILE_MODBUS_RTU_CHECKSUM_LENGTH,
AGILE_MODBUS_RTU_MAX_ADU_LENGTH,
agile_modbus_rtu_set_slave,
agile_modbus_rtu_build_request_basis,
agile_modbus_rtu_build_response_basis,
agile_modbus_rtu_prepare_response_tid,
agile_modbus_rtu_send_msg_pre,
agile_modbus_rtu_check_integrity,
agile_modbus_rtu_pre_check_confirmation};
/**
* @}
*/
/** @defgroup RTU_Exported_Functions RTU Exported Functions
* @{
*/
/**
* @brief RTU 初始化
* @param ctx RTU 句柄
* @param send_buf 发送缓冲区
* @param send_bufsz 发送缓冲区大小
* @param read_buf 接收缓冲区
* @param read_bufsz 接收缓冲区大小
* @return 0:成功
*/
int agile_modbus_rtu_init(agile_modbus_rtu_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz)
{
agile_modbus_common_init(&(ctx->_ctx), send_buf, send_bufsz, read_buf, read_bufsz);
ctx->_ctx.backend = &agile_modbus_rtu_backend;
ctx->_ctx.backend_data = ctx;
return 0;
}
/**
* @}
*/
/**
* @}
*/

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/**
* @file agile_modbus_rtu.h
* @brief Agile Modbus 软件包 RTU 头文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2021-12-02
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#ifndef __PKG_AGILE_MODBUS_RTU_H
#define __PKG_AGILE_MODBUS_RTU_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
/** @addtogroup RTU
* @{
*/
/** @defgroup RTU_Exported_Constants RTU Exported Constants
* @{
*/
#define AGILE_MODBUS_RTU_HEADER_LENGTH 1
#define AGILE_MODBUS_RTU_PRESET_REQ_LENGTH 6
#define AGILE_MODBUS_RTU_PRESET_RSP_LENGTH 2
#define AGILE_MODBUS_RTU_CHECKSUM_LENGTH 2
/**
@verbatim
Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5
RS232 / RS485 ADU = 253 bytes + slave (1 byte) + CRC (2 bytes) = 256 bytes
@endverbatim
*/
#define AGILE_MODBUS_RTU_MAX_ADU_LENGTH 256
/**
* @}
*/
/** @defgroup RTU_Exported_Types RTU Exported Types
* @{
*/
/**
* @brief RTU 结构体
*/
typedef struct agile_modbus_rtu {
agile_modbus_t _ctx; /**< modbus 句柄 */
} agile_modbus_rtu_t;
/**
* @}
*/
/** @addtogroup RTU_Exported_Functions
* @{
*/
int agile_modbus_rtu_init(agile_modbus_rtu_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz);
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __PKG_AGILE_MODBUS_RTU_H */

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/**
* @file agile_modbus_tcp.c
* @brief Agile Modbus 软件包 TCP 源文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2021-12-02
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#include "agile_modbus.h"
#include "agile_modbus_tcp.h"
/** @defgroup TCP TCP
* @{
*/
/** @defgroup TCP_Private_Functions TCP Private Functions
* @{
*/
/**
* @brief TCP 设置地址接口
* @param ctx modbus 句柄
* @param slave 从机地址
* @return 0:成功
*/
static int agile_modbus_tcp_set_slave(agile_modbus_t *ctx, int slave)
{
ctx->slave = slave;
return 0;
}
/**
* @brief TCP 构建基础请求报文接口(头部报文)
* @param ctx modbus 句柄
* @param function 功能码
* @param addr 寄存器地址
* @param nb 寄存器数目
* @param req 数据存放指针
* @return 数据长度
*/
static int agile_modbus_tcp_build_request_basis(agile_modbus_t *ctx, int function,
int addr, int nb,
uint8_t *req)
{
agile_modbus_tcp_t *ctx_tcp = ctx->backend_data;
/* Increase transaction ID */
if (ctx_tcp->t_id < UINT16_MAX)
ctx_tcp->t_id++;
else
ctx_tcp->t_id = 0;
req[0] = ctx_tcp->t_id >> 8;
req[1] = ctx_tcp->t_id & 0x00ff;
/* Protocol Modbus */
req[2] = 0;
req[3] = 0;
/* Length will be defined later by set_req_length_tcp at offsets 4
and 5 */
req[6] = ctx->slave;
req[7] = function;
req[8] = addr >> 8;
req[9] = addr & 0x00ff;
req[10] = nb >> 8;
req[11] = nb & 0x00ff;
return AGILE_MODBUS_TCP_PRESET_REQ_LENGTH;
}
/**
* @brief TCP 构建基础响应报文接口(头部报文)
* @param sft modbus 头部参数结构体指针
* @param rsp 数据存放指针
* @return 数据长度
*/
static int agile_modbus_tcp_build_response_basis(agile_modbus_sft_t *sft, uint8_t *rsp)
{
/* Extract from MODBUS Messaging on TCP/IP Implementation
Guide V1.0b (page 23/46):
The transaction identifier is used to associate the future
response with the request. */
rsp[0] = sft->t_id >> 8;
rsp[1] = sft->t_id & 0x00ff;
/* Protocol Modbus */
rsp[2] = 0;
rsp[3] = 0;
/* Length will be set later by send_msg (4 and 5) */
/* The slave ID is copied from the indication */
rsp[6] = sft->slave;
rsp[7] = sft->function;
return AGILE_MODBUS_TCP_PRESET_RSP_LENGTH;
}
/**
* @brief TCP 准备响应接口
* @param req 请求数据指针
* @param req_length 请求数据长度
* @return 事务标识符
*/
static int agile_modbus_tcp_prepare_response_tid(const uint8_t *req, int *req_length)
{
return (req[0] << 8) + req[1];
}
/**
* @brief TCP 预发送数据接口(计算长度字段的值并存入)
* @param req 数据存放指针
* @param req_length 已有数据长度
* @return 数据长度
*/
static int agile_modbus_tcp_send_msg_pre(uint8_t *req, int req_length)
{
/* Substract the header length to the message length */
int mbap_length = req_length - 6;
req[4] = mbap_length >> 8;
req[5] = mbap_length & 0x00FF;
return req_length;
}
/**
* @brief TCP 检查接收数据完整性接口
* @param ctx modbus 句柄
* @param msg 接收数据指针
* @param msg_length 有效数据长度
* @return 有效数据长度
*/
static int agile_modbus_tcp_check_integrity(agile_modbus_t *ctx, uint8_t *msg, const int msg_length)
{
return msg_length;
}
/**
* @brief TCP 预检查确认接口(对比事务标识符和协议标识符)
* @param ctx modbus 句柄
* @param req 请求数据指针
* @param rsp 响应数据指针
* @param rsp_length 响应数据长度
* @return 0:成功; 其他:异常
*/
static int agile_modbus_tcp_pre_check_confirmation(agile_modbus_t *ctx, const uint8_t *req,
const uint8_t *rsp, int rsp_length)
{
/* Check transaction ID */
if (req[0] != rsp[0] || req[1] != rsp[1])
return -1;
/* Check protocol ID */
if (rsp[2] != 0x0 && rsp[3] != 0x0)
return -1;
return 0;
}
/**
* @}
*/
/** @defgroup TCP_Private_Constants TCP Private Constants
* @{
*/
/**
* @brief TCP 后端接口
*/
static const agile_modbus_backend_t agile_modbus_tcp_backend =
{
AGILE_MODBUS_BACKEND_TYPE_TCP,
AGILE_MODBUS_TCP_HEADER_LENGTH,
AGILE_MODBUS_TCP_CHECKSUM_LENGTH,
AGILE_MODBUS_TCP_MAX_ADU_LENGTH,
agile_modbus_tcp_set_slave,
agile_modbus_tcp_build_request_basis,
agile_modbus_tcp_build_response_basis,
agile_modbus_tcp_prepare_response_tid,
agile_modbus_tcp_send_msg_pre,
agile_modbus_tcp_check_integrity,
agile_modbus_tcp_pre_check_confirmation};
/**
* @}
*/
/** @defgroup TCP_Exported_Functions TCP Exported Functions
* @{
*/
/**
* @brief TCP 初始化
* @param ctx TCP 句柄
* @param send_buf 发送缓冲区
* @param send_bufsz 发送缓冲区大小
* @param read_buf 接收缓冲区
* @param read_bufsz 接收缓冲区大小
* @return 0:成功
*/
int agile_modbus_tcp_init(agile_modbus_tcp_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz)
{
agile_modbus_common_init(&(ctx->_ctx), send_buf, send_bufsz, read_buf, read_bufsz);
ctx->_ctx.backend = &agile_modbus_tcp_backend;
ctx->_ctx.backend_data = ctx;
ctx->t_id = 0;
return 0;
}
/**
* @}
*/
/**
* @}
*/

83
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/**
* @file agile_modbus_tcp.h
* @brief Agile Modbus 软件包 TCP 头文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2021-12-02
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#ifndef __PKG_AGILE_MODBUS_TCP_H
#define __PKG_AGILE_MODBUS_TCP_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
/** @addtogroup TCP
* @{
*/
/** @defgroup TCP_Exported_Constants TCP Exported Constants
* @{
*/
#define AGILE_MODBUS_TCP_HEADER_LENGTH 7
#define AGILE_MODBUS_TCP_PRESET_REQ_LENGTH 12
#define AGILE_MODBUS_TCP_PRESET_RSP_LENGTH 8
#define AGILE_MODBUS_TCP_CHECKSUM_LENGTH 0
/**
@verbatim
Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5
TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes
@endverbatim
*/
#define AGILE_MODBUS_TCP_MAX_ADU_LENGTH 260
/**
* @}
*/
/** @defgroup TCP_Exported_Types TCP Exported Types
* @{
*/
/**
* @brief TCP 结构体
*/
typedef struct agile_modbus_tcp {
agile_modbus_t _ctx; /**< modbus 句柄 */
uint16_t t_id; /**< Extract from MODBUS Messaging on TCP/IP Implementation Guide V1.0b
(page 23/46):
The transaction identifier is used to associate the future response
with the request. This identifier is unique on each TCP connection. */
} agile_modbus_tcp_t;
/**
* @}
*/
/** @addtogroup TCP_Exported_Functions
* @{
*/
int agile_modbus_tcp_init(agile_modbus_tcp_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz);
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif

5
package/modbus/modbus.py Normal file
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@ -0,0 +1,5 @@
import _modbus
class ModBus(_modbus._Modbus):
...

6
port/linux/.vscode/settings.json vendored
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@ -60,6 +60,10 @@
"streambuf": "c",
"tuple": "c",
"typeinfo": "c",
"variant": "c"
"variant": "c",
"_modbus__modbus.h": "c",
"agile_modbus.h": "c",
"_modbus__modbusrtu.h": "c",
"_modbus__modbustcp.h": "c"
}
}

31
port/linux/package/pikascript/_modbus.pyi Normal file
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@ -0,0 +1,31 @@
class _ModBus:
def setSlave(self, slave: int): ...
def serializeReadBits(self, addr: int, nb: int) -> int: ...
def deserializeReadBits(self, msgLength: int, dest: bytes) -> int: ...
def serializeReadInputBits(self, addr: int, nb: int) -> int: ...
def deserializeReadInputBits(self, msgLength: int, dest: bytes) -> int: ...
def serializeReadRegisters(self, addr: int, nb: int) -> int: ...
def deserializeReadRegisters(self, msgLength: int, dest: bytes) -> int: ...
def serializeReadInputRegisters(self, addr: int, nb: int) -> int: ...
def deserializeReadInputRegisters(self, msgLength: int, dest: bytes) -> int: ...
def serializeWriteBit(self, addr: int, status: int) -> int: ...
def deserializeWriteBit(self, msgLength: int) -> int: ...
def serializeWriteRegister(self, addr: int, value: int) -> int: ...
def deserializeWriteRegister(self, msgLength: int) -> int: ...
def serializeWriteBits(self, addr: int, nb: int, src: bytes) -> int: ...
def deserializeWriteBits(self, msgLength: int) -> int: ...
def serializeWriteRegisters(self, addr: int, nb: int, src: bytes) -> int: ...
def deserializeWriteRegisters(self, msgLength: int) -> int: ...
def serializeMaskWriteRegister(self, addr: int, andMask: int, orMask: int) -> int: ...
def deserializeMaskWriteRegister(self, msgLength: int) -> int: ...
def serializeWriteAndReadRegisters(self, writeAddr: int, writeNb: int, src: bytes, readAddr: int, readNb: int) -> int: ...
def deserializeWriteAndReadRegisters(self, msgLength: int, dest: bytes) -> int: ...
def serializeReportSlaveId(self) -> int: ...
def deserializeReportSlaveId(self, msgLength: int, maxDest: int, dest: bytes) -> int: ...
class _ModBusRTU(_ModBus):
def __init__(self, sendBuffSize: int, readBuffSize: int): ...
class _ModBusTCP(_ModBus):
def __init__(self, sendBuffSize: int, readBuffSize: int): ...

2
port/linux/package/pikascript/main.py
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@ -20,6 +20,8 @@ import socket
import random
import re
import PikaNN
import modbus
mem = PikaStdLib.MemChecker()
print('hello pikascript!')
print('mem used max:')

5
port/linux/package/pikascript/modbus.py Normal file
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import _modbus
class ModBus(_modbus._Modbus):
...

201
port/linux/package/pikascript/pikascript-lib/modbus/LICENSE Normal file
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@ -0,0 +1,201 @@
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183
port/linux/package/pikascript/pikascript-lib/modbus/_modbus.c Normal file
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@ -0,0 +1,183 @@
#include "_modbus__ModBus.h"
#include "_modbus__ModBusRTU.h"
#include "_modbus__ModBusTCP.h"
#include "agile_modbus.h"
void _modbus__ModBusRTU___init__(PikaObj* self,
int sendBUffSize,
int readBuffSize) {
agile_modbus_rtu_t ctx_rtu = {0};
agile_modbus_t* ctx = &ctx_rtu._ctx;
obj_setBytes(self, "sendBuff", NULL, sendBUffSize);
obj_setBytes(self, "readBuff", NULL, readBuffSize);
agile_modbus_rtu_init(&ctx_rtu, obj_getBytes(self, "sendBuff"),
sendBUffSize, obj_getBytes(self, "readBuff"),
readBuffSize);
obj_setStruct(self, "ctx_rtu", ctx_rtu);
obj_setPtr(self, "ctx", ctx);
}
void _modbus__ModBus_setSlave(PikaObj* self, int slave) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
agile_modbus_set_slave(ctx, slave);
}
void _modbus__ModBusTCP___init__(PikaObj* self,
int sendBuffSize,
int readBuffSize) {
agile_modbus_tcp_t ctx_tcp = {0};
agile_modbus_t* ctx = &ctx_tcp._ctx;
obj_setBytes(self, "sendBuff", NULL, sendBuffSize);
obj_setBytes(self, "readBuff", NULL, readBuffSize);
agile_modbus_tcp_init(&ctx_tcp, obj_getBytes(self, "sendBuff"),
sendBuffSize, obj_getBytes(self, "readBuff"),
readBuffSize);
obj_setStruct(self, "ctx_tcp", ctx_tcp);
obj_setPtr(self, "ctx", ctx);
}
int _modbus__ModBus_deserializeMaskWriteRegister(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_mask_write_register(ctx, msgLength);
}
int _modbus__ModBus_deserializeReadBits(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_read_bits(ctx, msgLength, dest);
}
int _modbus__ModBus_deserializeReadInputBits(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_read_input_bits(ctx, msgLength, dest);
}
int _modbus__ModBus_deserializeReadInputRegisters(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_read_input_registers(ctx, msgLength,
(uint16_t*)dest);
}
int _modbus__ModBus_deserializeReadRegisters(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_read_registers(ctx, msgLength,
(uint16_t*)dest);
}
int _modbus__ModBus_deserializeReportSlaveId(PikaObj* self,
int msgLength,
int maxDest,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_report_slave_id(ctx, msgLength, maxDest,
dest);
}
int _modbus__ModBus_deserializeWriteAndReadRegisters(PikaObj* self,
int msgLength,
uint8_t* dest) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_and_read_registers(ctx, msgLength,
(uint16_t*)dest);
}
int _modbus__ModBus_deserializeWriteBit(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_bit(ctx, msgLength);
}
int _modbus__ModBus_deserializeWriteBits(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_bits(ctx, msgLength);
}
int _modbus__ModBus_deserializeWriteRegister(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_register(ctx, msgLength);
}
int _modbus__ModBus_deserializeWriteRegisters(PikaObj* self, int msgLength) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_deserialize_write_registers(ctx, msgLength);
}
int _modbus__ModBus_serializeMaskWriteRegister(PikaObj* self,
int addr,
int andMask,
int orMask) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_mask_write_register(ctx, addr, andMask,
orMask);
}
int _modbus__ModBus_serializeReadBits(PikaObj* self, int addr, int nb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_read_bits(ctx, addr, nb);
}
int _modbus__ModBus_serializeReadInputBits(PikaObj* self, int addr, int nb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_read_input_bits(ctx, addr, nb);
}
int _modbus__ModBus_serializeReadInputRegisters(PikaObj* self,
int addr,
int nb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_read_input_registers(ctx, addr, nb);
}
int _modbus__ModBus_serializeReadRegisters(PikaObj* self, int addr, int nb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_read_registers(ctx, addr, nb);
}
int _modbus__ModBus_serializeReportSlaveId(PikaObj* self) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_report_slave_id(ctx);
}
int _modbus__ModBus_serializeWriteAndReadRegisters(PikaObj* self,
int writeAddr,
int writeNb,
uint8_t* src,
int readAddr,
int readNb) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_and_read_registers(
ctx, writeAddr, writeNb, (uint16_t*)src, readAddr, readNb);
}
int _modbus__ModBus_serializeWriteBit(PikaObj* self, int addr, int status) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_bit(ctx, addr, status);
}
int _modbus__ModBus_serializeWriteBits(PikaObj* self,
int addr,
int nb,
uint8_t* src) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_bits(ctx, addr, nb, src);
}
int _modbus__ModBus_serializeWriteRegister(PikaObj* self, int addr, int value) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_register(ctx, addr, value);
}
int _modbus__ModBus_serializeWriteRegisters(PikaObj* self,
int addr,
int nb,
uint8_t* src) {
agile_modbus_t* ctx = obj_getPtr(self, "ctx");
return agile_modbus_serialize_write_registers(ctx, addr, nb,
(uint16_t*)src);
}

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/**
* @file agile_modbus.h
* @brief Agile Modbus 软件包通用头文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2022-07-28
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#ifndef __PKG_AGILE_MODBUS_H
#define __PKG_AGILE_MODBUS_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
/** @addtogroup COMMON
* @{
*/
/** @defgroup COMMON_Exported_Constants Common Exported Constants
* @{
*/
/** @defgroup Modbus_Function_Codes Modbus Function Codes
* @{
*/
#define AGILE_MODBUS_FC_READ_COILS 0x01
#define AGILE_MODBUS_FC_READ_DISCRETE_INPUTS 0x02
#define AGILE_MODBUS_FC_READ_HOLDING_REGISTERS 0x03
#define AGILE_MODBUS_FC_READ_INPUT_REGISTERS 0x04
#define AGILE_MODBUS_FC_WRITE_SINGLE_COIL 0x05
#define AGILE_MODBUS_FC_WRITE_SINGLE_REGISTER 0x06
#define AGILE_MODBUS_FC_READ_EXCEPTION_STATUS 0x07
#define AGILE_MODBUS_FC_WRITE_MULTIPLE_COILS 0x0F
#define AGILE_MODBUS_FC_WRITE_MULTIPLE_REGISTERS 0x10
#define AGILE_MODBUS_FC_REPORT_SLAVE_ID 0x11
#define AGILE_MODBUS_FC_MASK_WRITE_REGISTER 0x16
#define AGILE_MODBUS_FC_WRITE_AND_READ_REGISTERS 0x17
/**
* @}
*/
/** @defgroup Modbus_Constants Modbus Constants
* @{
*/
#define AGILE_MODBUS_VERSION_STRING "AMB_1.1.0" /**< Agile Modbus 版本号 */
#define AGILE_MODBUS_BROADCAST_ADDRESS 0 /**< Modbus 广播地址 */
/** @name Quantity limit of Coils
@verbatim
Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 1 page 12)
Quantity of Coils to read (2 bytes): 1 to 2000 (0x7D0)
(chapter 6 section 11 page 29)
Quantity of Coils to write (2 bytes): 1 to 1968 (0x7B0)
@endverbatim
* @{
*/
#define AGILE_MODBUS_MAX_READ_BITS 2000
#define AGILE_MODBUS_MAX_WRITE_BITS 1968
/**
* @}
*/
/** @name Quantity limit of Registers
@verbatim
Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 3 page 15)
Quantity of Registers to read (2 bytes): 1 to 125 (0x7D)
(chapter 6 section 12 page 31)
Quantity of Registers to write (2 bytes) 1 to 123 (0x7B)
(chapter 6 section 17 page 38)
Quantity of Registers to write in R/W registers (2 bytes) 1 to 121 (0x79)
@endverbatim
* @{
*/
#define AGILE_MODBUS_MAX_READ_REGISTERS 125
#define AGILE_MODBUS_MAX_WRITE_REGISTERS 123
#define AGILE_MODBUS_MAX_WR_WRITE_REGISTERS 121
#define AGILE_MODBUS_MAX_WR_READ_REGISTERS 125
/**
* @}
*/
/**
@verbatim
The size of the MODBUS PDU is limited by the size constraint inherited from
the first MODBUS implementation on Serial Line network (max. RS485 ADU = 256
bytes). Therefore, MODBUS PDU for serial line communication = 256 - Server
address (1 byte) - CRC (2 bytes) = 253 bytes.
@endverbatim
*/
#define AGILE_MODBUS_MAX_PDU_LENGTH 253
/**
@verbatim
Consequently:
- RTU MODBUS ADU = 253 bytes + Server address (1 byte) + CRC (2 bytes) = 256
bytes.
- TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes.
so the maximum of both backend in 260 bytes. This size can used to allocate
an array of bytes to store responses and it will be compatible with the two
backends.
@endverbatim
*/
#define AGILE_MODBUS_MAX_ADU_LENGTH 260
/**
* @}
*/
/**
* @}
*/
/** @defgroup COMMON_Exported_Types Common Exported Types
* @{
*/
/**
* @brief Modbus 异常码
*/
enum {
AGILE_MODBUS_EXCEPTION_ILLEGAL_FUNCTION = 0x01,
AGILE_MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS,
AGILE_MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE,
AGILE_MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE,
AGILE_MODBUS_EXCEPTION_ACKNOWLEDGE,
AGILE_MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY,
AGILE_MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE,
AGILE_MODBUS_EXCEPTION_MEMORY_PARITY,
AGILE_MODBUS_EXCEPTION_NOT_DEFINED,
AGILE_MODBUS_EXCEPTION_GATEWAY_PATH,
AGILE_MODBUS_EXCEPTION_GATEWAY_TARGET,
AGILE_MODBUS_EXCEPTION_UNKNOW = 0xff
};
/**
* @brief Modbus 后端类型
*/
typedef enum {
AGILE_MODBUS_BACKEND_TYPE_RTU = 0, /**< RTU */
AGILE_MODBUS_BACKEND_TYPE_TCP /**< TCP */
} agile_modbus_backend_type_t;
/**
* @brief Modbus 收到消息类型
*
@verbatim
---------- Request Indication ----------
| Client | ---------------------->| Server |
---------- Confirmation Response ----------
@endverbatim
*/
typedef enum {
AGILE_MODBUS_MSG_INDICATION, /**< 主机端的请求消息 */
AGILE_MODBUS_MSG_CONFIRMATION /**< 服务器端的请求消息 */
} agile_modbus_msg_type_t;
/**
* @brief 包含 modbus 头部参数结构体
*/
typedef struct agile_modbus_sft {
int slave; /**< 从机地址 */
int function; /**< 功能码 */
int t_id; /**< 事务标识符 */
} agile_modbus_sft_t;
typedef struct agile_modbus agile_modbus_t; /**< Agile Modbus 结构体 */
/**
* @brief Agile Modbus 后端接口结构体
*/
typedef struct agile_modbus_backend {
uint32_t backend_type; /**< 后端类型 */
uint32_t header_length; /**< 头部长度，不包含功能码 */
uint32_t checksum_length; /**< 校验数据长度 */
uint32_t max_adu_length; /**< 后端 ADU 长度 */
int (*set_slave)(agile_modbus_t *ctx, int slave); /**< 设置地址接口 */
int (*build_request_basis)(agile_modbus_t *ctx, int function, int addr,
int nb, uint8_t *req); /**< 构建基础请求报文接口 */
int (*build_response_basis)(agile_modbus_sft_t *sft, uint8_t *rsp); /**< 构建基础响应报文接口 */
int (*prepare_response_tid)(const uint8_t *req, int *req_length); /**< 准备响应接口 */
int (*send_msg_pre)(uint8_t *req, int req_length); /**< 预发送数据接口 */
int (*check_integrity)(agile_modbus_t *ctx, uint8_t *msg, const int msg_length); /**< 检查接收数据完整性接口 */
int (*pre_check_confirmation)(agile_modbus_t *ctx, const uint8_t *req,
const uint8_t *rsp, int rsp_length); /**< 预检查确认接口 */
} agile_modbus_backend_t;
/**
* @brief Agile Modbus 结构体
*/
struct agile_modbus {
int slave; /**< 从机地址 */
uint8_t *send_buf; /**< 发送缓冲区 */
int send_bufsz; /**< 发送缓冲区大小 */
uint8_t *read_buf; /**< 接收缓冲区 */
int read_bufsz; /**< 接收缓冲区大小 */
uint8_t (*compute_meta_length_after_function)(agile_modbus_t *ctx, int function,
agile_modbus_msg_type_t msg_type); /**< 自定义计算数据元长度接口 */
int (*compute_data_length_after_meta)(agile_modbus_t *ctx, uint8_t *msg,
int msg_length, agile_modbus_msg_type_t msg_type); /**< 自定义计算数据长度接口 */
const agile_modbus_backend_t *backend; /**< 后端接口 */
void *backend_data; /**< 后端数据，指向 RTU 或 TCP 结构体 */
};
/**
* @}
*/
/** @addtogroup Modbus_Slave
* @{
*/
/** @defgroup Slave_Exported_Types Slave Exported Types
* @{
*/
/**
* @brief Agile Modbus 从机信息结构体
*/
struct agile_modbus_slave_info {
agile_modbus_sft_t *sft; /**< sft 结构体指针 */
int *rsp_length; /**< 响应数据长度指针 */
int address; /**< 寄存器地址 */
int nb; /**< 数目 */
uint8_t *buf; /**< 不同功能码需要使用的数据域 */
int send_index; /**< 发送缓冲区当前索引 */
};
/**
* @brief 从机回调函数
* @param ctx modbus 句柄
* @param slave_info 从机信息体
* @param data 私有数据
* @return =0:正常;
* <0:异常
* (-AGILE_MODBUS_EXCEPTION_UNKNOW(-255): 未知异常，从机不会打包响应数据)
* (其他负数异常码: 从机会打包异常响应数据)
*/
typedef int (*agile_modbus_slave_callback_t)(agile_modbus_t *ctx, struct agile_modbus_slave_info *slave_info, const void *data);
/**
* @}
*/
/**
* @}
*/
/** @addtogroup COMMON_Exported_Functions
* @{
*/
void agile_modbus_common_init(agile_modbus_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz);
int agile_modbus_set_slave(agile_modbus_t *ctx, int slave);
void agile_modbus_set_compute_meta_length_after_function_cb(agile_modbus_t *ctx,
uint8_t (*cb)(agile_modbus_t *ctx, int function,
agile_modbus_msg_type_t msg_type));
void agile_modbus_set_compute_data_length_after_meta_cb(agile_modbus_t *ctx,
int (*cb)(agile_modbus_t *ctx, uint8_t *msg,
int msg_length, agile_modbus_msg_type_t msg_type));
int agile_modbus_receive_judge(agile_modbus_t *ctx, int msg_length, agile_modbus_msg_type_t msg_type);
/**
* @}
*/
/** @addtogroup Modbus_Master
* @{
*/
/** @addtogroup Master_Common_Operation_Functions
* @{
*/
int agile_modbus_serialize_read_bits(agile_modbus_t *ctx, int addr, int nb);
int agile_modbus_deserialize_read_bits(agile_modbus_t *ctx, int msg_length, uint8_t *dest);
int agile_modbus_serialize_read_input_bits(agile_modbus_t *ctx, int addr, int nb);
int agile_modbus_deserialize_read_input_bits(agile_modbus_t *ctx, int msg_length, uint8_t *dest);
int agile_modbus_serialize_read_registers(agile_modbus_t *ctx, int addr, int nb);
int agile_modbus_deserialize_read_registers(agile_modbus_t *ctx, int msg_length, uint16_t *dest);
int agile_modbus_serialize_read_input_registers(agile_modbus_t *ctx, int addr, int nb);
int agile_modbus_deserialize_read_input_registers(agile_modbus_t *ctx, int msg_length, uint16_t *dest);
int agile_modbus_serialize_write_bit(agile_modbus_t *ctx, int addr, int status);
int agile_modbus_deserialize_write_bit(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_write_register(agile_modbus_t *ctx, int addr, const uint16_t value);
int agile_modbus_deserialize_write_register(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_write_bits(agile_modbus_t *ctx, int addr, int nb, const uint8_t *src);
int agile_modbus_deserialize_write_bits(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_write_registers(agile_modbus_t *ctx, int addr, int nb, const uint16_t *src);
int agile_modbus_deserialize_write_registers(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_mask_write_register(agile_modbus_t *ctx, int addr, uint16_t and_mask, uint16_t or_mask);
int agile_modbus_deserialize_mask_write_register(agile_modbus_t *ctx, int msg_length);
int agile_modbus_serialize_write_and_read_registers(agile_modbus_t *ctx,
int write_addr, int write_nb,
const uint16_t *src,
int read_addr, int read_nb);
int agile_modbus_deserialize_write_and_read_registers(agile_modbus_t *ctx, int msg_length, uint16_t *dest);
int agile_modbus_serialize_report_slave_id(agile_modbus_t *ctx);
int agile_modbus_deserialize_report_slave_id(agile_modbus_t *ctx, int msg_length, int max_dest, uint8_t *dest);
/**
* @}
*/
/** @addtogroup Master_Raw_Operation_Functions
* @{
*/
int agile_modbus_serialize_raw_request(agile_modbus_t *ctx, const uint8_t *raw_req, int raw_req_length);
int agile_modbus_deserialize_raw_response(agile_modbus_t *ctx, int msg_length);
/**
* @}
*/
/**
* @}
*/
/** @addtogroup Modbus_Slave
* @{
*/
/** @addtogroup Slave_Operation_Functions
* @{
*/
int agile_modbus_slave_handle(agile_modbus_t *ctx, int msg_length, uint8_t slave_strict,
agile_modbus_slave_callback_t slave_cb, const void *slave_data, int *frame_length);
void agile_modbus_slave_io_set(uint8_t *buf, int index, int status);
uint8_t agile_modbus_slave_io_get(uint8_t *buf, int index);
void agile_modbus_slave_register_set(uint8_t *buf, int index, uint16_t data);
uint16_t agile_modbus_slave_register_get(uint8_t *buf, int index);
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/* Include RTU and TCP module */
#include "agile_modbus_rtu.h"
#include "agile_modbus_tcp.h"
#ifdef __cplusplus
}
#endif
#endif /* __PKG_AGILE_MODBUS_H */

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/**
* @file agile_modbus_rtu.c
* @brief Agile Modbus 软件包 RTU 源文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2021-12-02
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#include "agile_modbus.h"
#include "agile_modbus_rtu.h"
/** @defgroup RTU RTU
* @{
*/
/** @defgroup RTU_Private_Constants RTU Private Constants
* @{
*/
/** Table of CRC values for high-order byte */
static const uint8_t _table_crc_hi[] =
{
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 uint8_t _table_crc_lo[] =
{
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};
/**
* @}
*/
/** @defgroup RTU_Private_Functions RTU Private Functions
* @{
*/
/**
* @brief RTU CRC16 计算
* @param buffer 数据指针
* @param buffer_length 数据长度
* @return CRC16 值
*/
static uint16_t agile_modbus_rtu_crc16(uint8_t *buffer, uint16_t buffer_length)
{
uint8_t crc_hi = 0xFF; /* high CRC byte initialized */
uint8_t crc_lo = 0xFF; /* low CRC byte initialized */
unsigned int i; /* will index into CRC lookup */
/* pass through message buffer */
while (buffer_length--) {
i = crc_hi ^ *buffer++; /* calculate the CRC */
crc_hi = crc_lo ^ _table_crc_hi[i];
crc_lo = _table_crc_lo[i];
}
return (crc_hi << 8 | crc_lo);
}
/**
* @brief RTU 设置地址接口
* @param ctx modbus 句柄
* @param slave 从机地址
* @return 0:成功
*/
static int agile_modbus_rtu_set_slave(agile_modbus_t *ctx, int slave)
{
ctx->slave = slave;
return 0;
}
/**
* @brief RTU 构建基础请求报文接口(头部报文)
* @param ctx modbus 句柄
* @param function 功能码
* @param addr 寄存器地址
* @param nb 寄存器数目
* @param req 数据存放指针
* @return 数据长度
*/
static int agile_modbus_rtu_build_request_basis(agile_modbus_t *ctx, int function,
int addr, int nb,
uint8_t *req)
{
req[0] = ctx->slave;
req[1] = function;
req[2] = addr >> 8;
req[3] = addr & 0x00ff;
req[4] = nb >> 8;
req[5] = nb & 0x00ff;
return AGILE_MODBUS_RTU_PRESET_REQ_LENGTH;
}
/**
* @brief RTU 构建基础响应报文接口(头部报文)
* @param sft modbus 头部参数结构体指针
* @param rsp 数据存放指针
* @return 数据长度
*/
static int agile_modbus_rtu_build_response_basis(agile_modbus_sft_t *sft, uint8_t *rsp)
{
rsp[0] = sft->slave;
rsp[1] = sft->function;
return AGILE_MODBUS_RTU_PRESET_RSP_LENGTH;
}
/**
* @brief RTU 准备响应接口
* @note 该 API 会将 req_length 自动减去 AGILE_MODBUS_RTU_CHECKSUM_LENGTH 长度
* @param req 请求数据指针
* @param req_length 请求数据长度
* @return 0 (RTU 没有事务标识符)
*/
static int agile_modbus_rtu_prepare_response_tid(const uint8_t *req, int *req_length)
{
(*req_length) -= AGILE_MODBUS_RTU_CHECKSUM_LENGTH;
/* No TID */
return 0;
}
/**
* @brief RTU 预发送数据接口
* @note 该 API 会计算 CRC16 并自动填入尾部
* @param req 数据存放指针
* @param req_length 已有数据长度
* @return 数据长度
*/
static int agile_modbus_rtu_send_msg_pre(uint8_t *req, int req_length)
{
uint16_t crc = agile_modbus_rtu_crc16(req, req_length);
req[req_length++] = crc >> 8;
req[req_length++] = crc & 0x00FF;
return req_length;
}
/**
* @brief RTU 检查接收数据完整性接口(CRC16 对比)
* @param ctx modbus 句柄
* @param msg 接收数据指针
* @param msg_length 有效数据长度
* @return >0:有效数据长度; 其他:异常
*/
static int agile_modbus_rtu_check_integrity(agile_modbus_t *ctx, uint8_t *msg, const int msg_length)
{
uint16_t crc_calculated;
uint16_t crc_received;
crc_calculated = agile_modbus_rtu_crc16(msg, msg_length - 2);
crc_received = (msg[msg_length - 2] << 8) | msg[msg_length - 1];
/* Check CRC of msg */
if (crc_calculated == crc_received)
return msg_length;
return -1;
}
/**
* @brief RTU 预检查确认接口(请求响应地址对比)
* @note 如果请求地址是广播地址0，返回成功
* @param ctx modbus 句柄
* @param req 请求数据指针
* @param rsp 响应数据指针
* @param rsp_length 响应数据长度
* @return 0:成功; 其他:异常
*/
static int agile_modbus_rtu_pre_check_confirmation(agile_modbus_t *ctx, const uint8_t *req,
const uint8_t *rsp, int rsp_length)
{
/* Check responding slave is the slave we requested (except for broacast
* request) */
if (req[0] != rsp[0] && req[0] != AGILE_MODBUS_BROADCAST_ADDRESS)
return -1;
return 0;
}
/**
* @}
*/
/** @addtogroup RTU_Private_Constants
* @{
*/
/**
* @brief RTU 后端接口
*/
static const agile_modbus_backend_t agile_modbus_rtu_backend =
{
AGILE_MODBUS_BACKEND_TYPE_RTU,
AGILE_MODBUS_RTU_HEADER_LENGTH,
AGILE_MODBUS_RTU_CHECKSUM_LENGTH,
AGILE_MODBUS_RTU_MAX_ADU_LENGTH,
agile_modbus_rtu_set_slave,
agile_modbus_rtu_build_request_basis,
agile_modbus_rtu_build_response_basis,
agile_modbus_rtu_prepare_response_tid,
agile_modbus_rtu_send_msg_pre,
agile_modbus_rtu_check_integrity,
agile_modbus_rtu_pre_check_confirmation};
/**
* @}
*/
/** @defgroup RTU_Exported_Functions RTU Exported Functions
* @{
*/
/**
* @brief RTU 初始化
* @param ctx RTU 句柄
* @param send_buf 发送缓冲区
* @param send_bufsz 发送缓冲区大小
* @param read_buf 接收缓冲区
* @param read_bufsz 接收缓冲区大小
* @return 0:成功
*/
int agile_modbus_rtu_init(agile_modbus_rtu_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz)
{
agile_modbus_common_init(&(ctx->_ctx), send_buf, send_bufsz, read_buf, read_bufsz);
ctx->_ctx.backend = &agile_modbus_rtu_backend;
ctx->_ctx.backend_data = ctx;
return 0;
}
/**
* @}
*/
/**
* @}
*/

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/**
* @file agile_modbus_rtu.h
* @brief Agile Modbus 软件包 RTU 头文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2021-12-02
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#ifndef __PKG_AGILE_MODBUS_RTU_H
#define __PKG_AGILE_MODBUS_RTU_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
/** @addtogroup RTU
* @{
*/
/** @defgroup RTU_Exported_Constants RTU Exported Constants
* @{
*/
#define AGILE_MODBUS_RTU_HEADER_LENGTH 1
#define AGILE_MODBUS_RTU_PRESET_REQ_LENGTH 6
#define AGILE_MODBUS_RTU_PRESET_RSP_LENGTH 2
#define AGILE_MODBUS_RTU_CHECKSUM_LENGTH 2
/**
@verbatim
Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5
RS232 / RS485 ADU = 253 bytes + slave (1 byte) + CRC (2 bytes) = 256 bytes
@endverbatim
*/
#define AGILE_MODBUS_RTU_MAX_ADU_LENGTH 256
/**
* @}
*/
/** @defgroup RTU_Exported_Types RTU Exported Types
* @{
*/
/**
* @brief RTU 结构体
*/
typedef struct agile_modbus_rtu {
agile_modbus_t _ctx; /**< modbus 句柄 */
} agile_modbus_rtu_t;
/**
* @}
*/
/** @addtogroup RTU_Exported_Functions
* @{
*/
int agile_modbus_rtu_init(agile_modbus_rtu_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz);
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __PKG_AGILE_MODBUS_RTU_H */

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/**
* @file agile_modbus_tcp.c
* @brief Agile Modbus 软件包 TCP 源文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2021-12-02
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#include "agile_modbus.h"
#include "agile_modbus_tcp.h"
/** @defgroup TCP TCP
* @{
*/
/** @defgroup TCP_Private_Functions TCP Private Functions
* @{
*/
/**
* @brief TCP 设置地址接口
* @param ctx modbus 句柄
* @param slave 从机地址
* @return 0:成功
*/
static int agile_modbus_tcp_set_slave(agile_modbus_t *ctx, int slave)
{
ctx->slave = slave;
return 0;
}
/**
* @brief TCP 构建基础请求报文接口(头部报文)
* @param ctx modbus 句柄
* @param function 功能码
* @param addr 寄存器地址
* @param nb 寄存器数目
* @param req 数据存放指针
* @return 数据长度
*/
static int agile_modbus_tcp_build_request_basis(agile_modbus_t *ctx, int function,
int addr, int nb,
uint8_t *req)
{
agile_modbus_tcp_t *ctx_tcp = ctx->backend_data;
/* Increase transaction ID */
if (ctx_tcp->t_id < UINT16_MAX)
ctx_tcp->t_id++;
else
ctx_tcp->t_id = 0;
req[0] = ctx_tcp->t_id >> 8;
req[1] = ctx_tcp->t_id & 0x00ff;
/* Protocol Modbus */
req[2] = 0;
req[3] = 0;
/* Length will be defined later by set_req_length_tcp at offsets 4
and 5 */
req[6] = ctx->slave;
req[7] = function;
req[8] = addr >> 8;
req[9] = addr & 0x00ff;
req[10] = nb >> 8;
req[11] = nb & 0x00ff;
return AGILE_MODBUS_TCP_PRESET_REQ_LENGTH;
}
/**
* @brief TCP 构建基础响应报文接口(头部报文)
* @param sft modbus 头部参数结构体指针
* @param rsp 数据存放指针
* @return 数据长度
*/
static int agile_modbus_tcp_build_response_basis(agile_modbus_sft_t *sft, uint8_t *rsp)
{
/* Extract from MODBUS Messaging on TCP/IP Implementation
Guide V1.0b (page 23/46):
The transaction identifier is used to associate the future
response with the request. */
rsp[0] = sft->t_id >> 8;
rsp[1] = sft->t_id & 0x00ff;
/* Protocol Modbus */
rsp[2] = 0;
rsp[3] = 0;
/* Length will be set later by send_msg (4 and 5) */
/* The slave ID is copied from the indication */
rsp[6] = sft->slave;
rsp[7] = sft->function;
return AGILE_MODBUS_TCP_PRESET_RSP_LENGTH;
}
/**
* @brief TCP 准备响应接口
* @param req 请求数据指针
* @param req_length 请求数据长度
* @return 事务标识符
*/
static int agile_modbus_tcp_prepare_response_tid(const uint8_t *req, int *req_length)
{
return (req[0] << 8) + req[1];
}
/**
* @brief TCP 预发送数据接口(计算长度字段的值并存入)
* @param req 数据存放指针
* @param req_length 已有数据长度
* @return 数据长度
*/
static int agile_modbus_tcp_send_msg_pre(uint8_t *req, int req_length)
{
/* Substract the header length to the message length */
int mbap_length = req_length - 6;
req[4] = mbap_length >> 8;
req[5] = mbap_length & 0x00FF;
return req_length;
}
/**
* @brief TCP 检查接收数据完整性接口
* @param ctx modbus 句柄
* @param msg 接收数据指针
* @param msg_length 有效数据长度
* @return 有效数据长度
*/
static int agile_modbus_tcp_check_integrity(agile_modbus_t *ctx, uint8_t *msg, const int msg_length)
{
return msg_length;
}
/**
* @brief TCP 预检查确认接口(对比事务标识符和协议标识符)
* @param ctx modbus 句柄
* @param req 请求数据指针
* @param rsp 响应数据指针
* @param rsp_length 响应数据长度
* @return 0:成功; 其他:异常
*/
static int agile_modbus_tcp_pre_check_confirmation(agile_modbus_t *ctx, const uint8_t *req,
const uint8_t *rsp, int rsp_length)
{
/* Check transaction ID */
if (req[0] != rsp[0] || req[1] != rsp[1])
return -1;
/* Check protocol ID */
if (rsp[2] != 0x0 && rsp[3] != 0x0)
return -1;
return 0;
}
/**
* @}
*/
/** @defgroup TCP_Private_Constants TCP Private Constants
* @{
*/
/**
* @brief TCP 后端接口
*/
static const agile_modbus_backend_t agile_modbus_tcp_backend =
{
AGILE_MODBUS_BACKEND_TYPE_TCP,
AGILE_MODBUS_TCP_HEADER_LENGTH,
AGILE_MODBUS_TCP_CHECKSUM_LENGTH,
AGILE_MODBUS_TCP_MAX_ADU_LENGTH,
agile_modbus_tcp_set_slave,
agile_modbus_tcp_build_request_basis,
agile_modbus_tcp_build_response_basis,
agile_modbus_tcp_prepare_response_tid,
agile_modbus_tcp_send_msg_pre,
agile_modbus_tcp_check_integrity,
agile_modbus_tcp_pre_check_confirmation};
/**
* @}
*/
/** @defgroup TCP_Exported_Functions TCP Exported Functions
* @{
*/
/**
* @brief TCP 初始化
* @param ctx TCP 句柄
* @param send_buf 发送缓冲区
* @param send_bufsz 发送缓冲区大小
* @param read_buf 接收缓冲区
* @param read_bufsz 接收缓冲区大小
* @return 0:成功
*/
int agile_modbus_tcp_init(agile_modbus_tcp_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz)
{
agile_modbus_common_init(&(ctx->_ctx), send_buf, send_bufsz, read_buf, read_bufsz);
ctx->_ctx.backend = &agile_modbus_tcp_backend;
ctx->_ctx.backend_data = ctx;
ctx->t_id = 0;
return 0;
}
/**
* @}
*/
/**
* @}
*/

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/**
* @file agile_modbus_tcp.h
* @brief Agile Modbus 软件包 TCP 头文件
* @author 马龙伟 (2544047213@qq.com)
* @date 2021-12-02
*
* @attention
*
* <h2><center>&copy; Copyright (c) 2021 Ma Longwei.
* All rights reserved.</center></h2>
*
*/
#ifndef __PKG_AGILE_MODBUS_TCP_H
#define __PKG_AGILE_MODBUS_TCP_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
/** @addtogroup TCP
* @{
*/
/** @defgroup TCP_Exported_Constants TCP Exported Constants
* @{
*/
#define AGILE_MODBUS_TCP_HEADER_LENGTH 7
#define AGILE_MODBUS_TCP_PRESET_REQ_LENGTH 12
#define AGILE_MODBUS_TCP_PRESET_RSP_LENGTH 8
#define AGILE_MODBUS_TCP_CHECKSUM_LENGTH 0
/**
@verbatim
Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5
TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes
@endverbatim
*/
#define AGILE_MODBUS_TCP_MAX_ADU_LENGTH 260
/**
* @}
*/
/** @defgroup TCP_Exported_Types TCP Exported Types
* @{
*/
/**
* @brief TCP 结构体
*/
typedef struct agile_modbus_tcp {
agile_modbus_t _ctx; /**< modbus 句柄 */
uint16_t t_id; /**< Extract from MODBUS Messaging on TCP/IP Implementation Guide V1.0b
(page 23/46):
The transaction identifier is used to associate the future response
with the request. This identifier is unique on each TCP connection. */
} agile_modbus_tcp_t;
/**
* @}
*/
/** @addtogroup TCP_Exported_Functions
* @{
*/
int agile_modbus_tcp_init(agile_modbus_tcp_t *ctx, uint8_t *send_buf, int send_bufsz, uint8_t *read_buf, int read_bufsz);
/**
* @}
*/
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif