1245 lines
34 KiB
C
1245 lines
34 KiB
C
#include "nanomodbus.h"
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#include <stdbool.h>
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#include <stdlib.h>
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#include <string.h>
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#ifdef NMBS_DEBUG
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#include <stdio.h>
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#define DEBUG(...) printf(__VA_ARGS__)
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#else
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#define DEBUG(...) (void) (0)
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#endif
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#if !defined(NMBS_BIG_ENDIAN) && !defined(NMBS_LITTLE_ENDIAN)
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#if defined(__BYTE_ORDER) && __BYTE_ORDER == __BIG_ENDIAN || defined(__BIG_ENDIAN__) || defined(__ARMEB__) || \
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defined(__THUMBEB__) || defined(__AARCH64EB__) || defined(_MIBSEB) || defined(__MIBSEB) || defined(__MIBSEB__)
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#define NMBS_BIG_ENDIAN
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#elif defined(__BYTE_ORDER) && __BYTE_ORDER == __LITTLE_ENDIAN || defined(__LITTLE_ENDIAN__) || defined(__ARMEL__) || \
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defined(__THUMBEL__) || defined(__AARCH64EL__) || defined(_MIPSEL) || defined(__MIPSEL) || defined(__MIPSEL__)
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#define NMBS_LITTLE_ENDIAN
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#else
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#error "Failed to automatically detect platform endianness. Please define either NMBS_BIG_ENDIAN or NMBS_LITTLE_ENDIAN."
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#endif
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#endif
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#define get_1(m) \
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(m)->msg.buf[(m)->msg.buf_idx]; \
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(m)->msg.buf_idx++
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#define put_1(m, b) \
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(m)->msg.buf[(m)->msg.buf_idx] = (b); \
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(m)->msg.buf_idx++
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#define discard_1(m) (m)->msg.buf_idx++
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#ifdef NMBS_BIG_ENDIAN
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#define get_2(m) \
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(*(uint16_t*) ((m)->msg.buf + (m)->msg.buf_idx)); \
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(m)->msg.buf_idx += 2
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#define put_2(m, w) \
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(*(uint16_t*) ((m)->msg.buf + (m)->msg.buf_idx)) = (w); \
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(m)->msg.buf_idx += 2
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#else
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#define get_2(m) \
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((uint16_t) ((m)->msg.buf[(m)->msg.buf_idx + 1])) | (((uint16_t) (m)->msg.buf[(m)->msg.buf_idx] << 8)); \
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(m)->msg.buf_idx += 2
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#define put_2(m, w) \
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(m)->msg.buf[(m)->msg.buf_idx] = ((uint8_t) ((((uint16_t) (w)) & 0xFF00) >> 8)); \
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(m)->msg.buf[(m)->msg.buf_idx + 1] = ((uint8_t) (((uint16_t) (w)) & 0x00FF)); \
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(m)->msg.buf_idx += 2
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#endif
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static void msg_buf_reset(nmbs_t* nmbs) {
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nmbs->msg.buf_idx = 0;
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}
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static void msg_state_reset(nmbs_t* nmbs) {
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msg_buf_reset(nmbs);
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nmbs->msg.unit_id = 0;
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nmbs->msg.fc = 0;
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nmbs->msg.transaction_id = 0;
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nmbs->msg.broadcast = false;
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nmbs->msg.ignored = 0;
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}
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static void msg_state_req(nmbs_t* nmbs, uint8_t fc) {
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if (nmbs->current_tid == UINT16_MAX)
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nmbs->current_tid = 1;
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else
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nmbs->current_tid++;
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msg_state_reset(nmbs);
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nmbs->msg.unit_id = nmbs->dest_address_rtu;
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nmbs->msg.fc = fc;
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nmbs->msg.transaction_id = nmbs->current_tid;
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if (nmbs->msg.unit_id == 0 && nmbs->platform.transport == NMBS_TRANSPORT_RTU)
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nmbs->msg.broadcast = true;
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}
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int nmbs_create(nmbs_t* nmbs, const nmbs_platform_conf* platform_conf) {
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if (!nmbs)
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return NMBS_ERROR_INVALID_ARGUMENT;
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memset(nmbs, 0, sizeof(nmbs_t));
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nmbs->byte_timeout_ms = -1;
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nmbs->read_timeout_ms = -1;
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nmbs->byte_spacing_ms = 0;
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if (!platform_conf)
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return NMBS_ERROR_INVALID_ARGUMENT;
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if (platform_conf->transport != NMBS_TRANSPORT_RTU && platform_conf->transport != NMBS_TRANSPORT_TCP)
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return NMBS_ERROR_INVALID_ARGUMENT;
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if (!platform_conf->read_byte || !platform_conf->write_byte || !platform_conf->sleep)
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return NMBS_ERROR_INVALID_ARGUMENT;
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nmbs->platform = *platform_conf;
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return NMBS_ERROR_NONE;
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}
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nmbs_error nmbs_client_create(nmbs_t* nmbs, const nmbs_platform_conf* platform_conf) {
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return nmbs_create(nmbs, platform_conf);
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}
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nmbs_error nmbs_server_create(nmbs_t* nmbs, uint8_t address_rtu, const nmbs_platform_conf* platform_conf,
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const nmbs_callbacks* callbacks) {
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if (platform_conf->transport == NMBS_TRANSPORT_RTU && address_rtu == 0)
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return NMBS_ERROR_INVALID_ARGUMENT;
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nmbs_error ret = nmbs_create(nmbs, platform_conf);
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if (ret != NMBS_ERROR_NONE)
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return ret;
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nmbs->address_rtu = address_rtu;
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nmbs->callbacks = *callbacks;
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return NMBS_ERROR_NONE;
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}
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void nmbs_set_read_timeout(nmbs_t* nmbs, int32_t timeout_ms) {
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nmbs->read_timeout_ms = timeout_ms;
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}
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void nmbs_set_byte_timeout(nmbs_t* nmbs, int32_t timeout_ms) {
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nmbs->byte_timeout_ms = timeout_ms;
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}
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void nmbs_set_byte_spacing(nmbs_t* nmbs, uint32_t spacing_ms) {
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nmbs->byte_spacing_ms = spacing_ms;
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}
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void nmbs_set_destination_rtu_address(nmbs_t* nmbs, uint8_t address) {
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nmbs->dest_address_rtu = address;
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}
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void nmbs_set_platform_arg(nmbs_t* nmbs, void* arg) {
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nmbs->platform.arg = arg;
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}
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static uint16_t crc_calc(const uint8_t* data, uint32_t length) {
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uint16_t crc = 0xFFFF;
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for (uint32_t i = 0; i < length; i++) {
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crc ^= (uint16_t) data[i];
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for (int j = 8; j != 0; j--) {
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if ((crc & 0x0001) != 0) {
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crc >>= 1;
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crc ^= 0xA001;
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}
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else
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crc >>= 1;
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}
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}
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return crc;
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}
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static nmbs_error recv(nmbs_t* nmbs, uint32_t count) {
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uint32_t r = 0;
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while (r != count) {
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int ret = nmbs->platform.read_byte(nmbs->msg.buf + nmbs->msg.buf_idx + r, nmbs->byte_timeout_ms,
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nmbs->platform.arg);
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if (ret == 0) {
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return NMBS_ERROR_TIMEOUT;
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}
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else if (ret != 1) {
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return NMBS_ERROR_TRANSPORT;
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}
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r++;
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}
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return NMBS_ERROR_NONE;
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}
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static nmbs_error send(nmbs_t* nmbs) {
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uint32_t spacing_ms = 0;
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if (nmbs->platform.transport == NMBS_TRANSPORT_RTU)
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spacing_ms = nmbs->byte_spacing_ms;
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for (int i = 0; i < nmbs->msg.buf_idx; i++) {
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if (spacing_ms != 0)
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nmbs->platform.sleep(spacing_ms, nmbs->platform.arg);
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int ret = nmbs->platform.write_byte(nmbs->msg.buf[i], nmbs->read_timeout_ms, nmbs->platform.arg);
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if (ret == 0) {
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return NMBS_ERROR_TIMEOUT;
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}
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else if (ret != 1) {
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return NMBS_ERROR_TRANSPORT;
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}
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}
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return NMBS_ERROR_NONE;
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}
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static nmbs_error recv_msg_footer(nmbs_t* nmbs) {
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if (nmbs->platform.transport == NMBS_TRANSPORT_RTU) {
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uint16_t crc = crc_calc(nmbs->msg.buf, nmbs->msg.buf_idx);
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nmbs_error err = recv(nmbs, 2);
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if (err != NMBS_ERROR_NONE)
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return err;
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uint16_t recv_crc = get_2(nmbs);
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if (recv_crc != crc)
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return NMBS_ERROR_TRANSPORT;
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}
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DEBUG("\n");
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return NMBS_ERROR_NONE;
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}
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static nmbs_error recv_msg_header(nmbs_t* nmbs, bool* first_byte_received) {
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// We wait for the read timeout here, just for the first message byte
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int32_t old_byte_timeout = nmbs->byte_timeout_ms;
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nmbs->byte_timeout_ms = nmbs->read_timeout_ms;
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msg_state_reset(nmbs);
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if (first_byte_received)
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*first_byte_received = false;
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if (nmbs->platform.transport == NMBS_TRANSPORT_RTU) {
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nmbs_error err = recv(nmbs, 1);
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nmbs->byte_timeout_ms = old_byte_timeout;
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if (err != NMBS_ERROR_NONE)
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return err;
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if (first_byte_received)
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*first_byte_received = true;
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nmbs->msg.unit_id = get_1(nmbs);
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err = recv(nmbs, 1);
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if (err != NMBS_ERROR_NONE)
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return err;
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nmbs->msg.fc = get_1(nmbs);
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}
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else if (nmbs->platform.transport == NMBS_TRANSPORT_TCP) {
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nmbs_error err = recv(nmbs, 1);
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nmbs->byte_timeout_ms = old_byte_timeout;
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if (err != NMBS_ERROR_NONE)
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return err;
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if (first_byte_received)
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*first_byte_received = true;
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// Advance buf_idx
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discard_1(nmbs);
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err = recv(nmbs, 7);
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if (err != NMBS_ERROR_NONE)
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return err;
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// Starting over
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msg_buf_reset(nmbs);
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nmbs->msg.transaction_id = get_2(nmbs);
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uint16_t protocol_id = get_2(nmbs);
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uint16_t length = get_2(nmbs); // We should actually check the length of the request against this value
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nmbs->msg.unit_id = get_1(nmbs);
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nmbs->msg.fc = get_1(nmbs);
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if (protocol_id != 0)
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return NMBS_ERROR_TRANSPORT;
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if (length > 255)
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return NMBS_ERROR_TRANSPORT;
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}
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return NMBS_ERROR_NONE;
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}
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static nmbs_error recv_req_header(nmbs_t* nmbs, bool* first_byte_received) {
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nmbs_error err = recv_msg_header(nmbs, first_byte_received);
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if (err != NMBS_ERROR_NONE)
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return err;
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if (nmbs->platform.transport == NMBS_TRANSPORT_RTU) {
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// Check if request is for us
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if (nmbs->msg.unit_id == NMBS_BROADCAST_ADDRESS)
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nmbs->msg.broadcast = true;
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else if (nmbs->msg.unit_id != nmbs->address_rtu)
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nmbs->msg.ignored = true;
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else
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nmbs->msg.ignored = false;
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}
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return NMBS_ERROR_NONE;
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}
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static nmbs_error recv_res_header(nmbs_t* nmbs) {
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uint16_t req_transaction_id = nmbs->msg.transaction_id;
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uint8_t req_fc = nmbs->msg.fc;
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nmbs_error err = recv_msg_header(nmbs, NULL);
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if (err != NMBS_ERROR_NONE)
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return err;
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if (nmbs->platform.transport == NMBS_TRANSPORT_TCP) {
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if (nmbs->msg.transaction_id != req_transaction_id)
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return NMBS_ERROR_INVALID_RESPONSE;
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}
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if (nmbs->msg.ignored)
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return NMBS_ERROR_INVALID_RESPONSE;
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if (nmbs->msg.fc != req_fc) {
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if (nmbs->msg.fc - 0x80 == req_fc) {
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err = recv(nmbs, 1);
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if (err != NMBS_ERROR_NONE)
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return err;
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uint8_t exception = get_1(nmbs);
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err = recv_msg_footer(nmbs);
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if (err != NMBS_ERROR_NONE)
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return err;
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if (exception < 1 || exception > 4)
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return NMBS_ERROR_INVALID_RESPONSE;
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else {
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DEBUG("exception %d\n", exception);
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return exception;
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}
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}
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else {
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return NMBS_ERROR_INVALID_RESPONSE;
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}
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}
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DEBUG("NMBS res <- fc %d\t", nmbs->msg.fc);
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return NMBS_ERROR_NONE;
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}
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static void send_msg_header(nmbs_t* nmbs, uint16_t data_length) {
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msg_buf_reset(nmbs);
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if (nmbs->platform.transport == NMBS_TRANSPORT_RTU) {
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put_1(nmbs, nmbs->msg.unit_id);
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}
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else if (nmbs->platform.transport == NMBS_TRANSPORT_TCP) {
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put_2(nmbs, nmbs->msg.transaction_id);
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put_2(nmbs, 0);
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put_2(nmbs, (uint16_t) (1 + 1 + data_length));
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put_1(nmbs, nmbs->msg.unit_id);
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}
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put_1(nmbs, nmbs->msg.fc);
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}
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static nmbs_error send_msg_footer(nmbs_t* nmbs) {
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if (nmbs->platform.transport == NMBS_TRANSPORT_RTU) {
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uint16_t crc = crc_calc(nmbs->msg.buf, nmbs->msg.buf_idx);
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put_2(nmbs, crc);
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}
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nmbs_error err = send(nmbs);
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DEBUG("\n");
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return err;
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}
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static void send_req_header(nmbs_t* nmbs, uint16_t data_length) {
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send_msg_header(nmbs, data_length);
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DEBUG("NMBS req -> fc %d\t", nmbs->msg.fc);
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}
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static void send_res_header(nmbs_t* nmbs, uint16_t data_length) {
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send_msg_header(nmbs, data_length);
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DEBUG("NMBS res -> fc %d\t", nmbs->msg.fc);
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}
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static nmbs_error handle_exception(nmbs_t* nmbs, uint8_t exception) {
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nmbs->msg.fc += 0x80;
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send_msg_header(nmbs, 1);
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put_1(nmbs, exception);
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DEBUG("NMBS res -> exception %d\n", exception);
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return send_msg_footer(nmbs);
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}
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static nmbs_error handle_read_discrete(nmbs_t* nmbs, nmbs_error (*callback)(uint16_t, uint16_t, nmbs_bitfield)) {
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nmbs_error err = recv(nmbs, 4);
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if (err != NMBS_ERROR_NONE)
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return err;
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uint16_t address = get_2(nmbs);
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uint16_t quantity = get_2(nmbs);
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DEBUG("a %d\tq %d", address, quantity);
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err = recv_msg_footer(nmbs);
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if (err != NMBS_ERROR_NONE)
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return err;
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if (!nmbs->msg.ignored) {
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if (quantity < 1 || quantity > 2000)
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return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
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if ((uint32_t) address + (uint32_t) quantity > 0xFFFF + 1)
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return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS);
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if (callback) {
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nmbs_bitfield bf = {0};
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err = callback(address, quantity, bf);
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if (err != NMBS_ERROR_NONE) {
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if (nmbs_error_is_exception(err))
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return handle_exception(nmbs, err);
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else
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return handle_exception(nmbs, NMBS_EXCEPTION_SERVER_DEVICE_FAILURE);
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}
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if (!nmbs->msg.broadcast) {
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uint8_t discrete_bytes = (quantity / 8) + 1;
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send_res_header(nmbs, discrete_bytes);
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put_1(nmbs, discrete_bytes);
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DEBUG("b %d\t", discrete_bytes);
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DEBUG("coils ");
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for (int i = 0; i < discrete_bytes; i++) {
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put_1(nmbs, bf[i]);
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DEBUG("%d", bf[i]);
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}
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err = send_msg_footer(nmbs);
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if (err != NMBS_ERROR_NONE)
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return err;
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}
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}
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else {
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return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_FUNCTION);
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}
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}
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return NMBS_ERROR_NONE;
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}
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static nmbs_error handle_read_registers(nmbs_t* nmbs, nmbs_error (*callback)(uint16_t, uint16_t, uint16_t*)) {
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nmbs_error err = recv(nmbs, 4);
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if (err != NMBS_ERROR_NONE)
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return err;
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uint16_t address = get_2(nmbs);
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uint16_t quantity = get_2(nmbs);
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DEBUG("a %d\tq %d", address, quantity);
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err = recv_msg_footer(nmbs);
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if (err != NMBS_ERROR_NONE)
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return err;
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if (!nmbs->msg.ignored) {
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if (quantity < 1 || quantity > 125)
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return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
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if ((uint32_t) address + (uint32_t) quantity > 0xFFFF + 1)
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return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS);
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if (callback) {
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uint16_t regs[125] = {0};
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err = callback(address, quantity, regs);
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if (err != NMBS_ERROR_NONE) {
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if (nmbs_error_is_exception(err))
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return handle_exception(nmbs, err);
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else
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_SERVER_DEVICE_FAILURE);
|
|
}
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
uint8_t regs_bytes = quantity * 2;
|
|
send_res_header(nmbs, regs_bytes);
|
|
|
|
put_1(nmbs, regs_bytes);
|
|
|
|
DEBUG("b %d\t", regs_bytes);
|
|
|
|
DEBUG("regs ");
|
|
for (int i = 0; i < quantity; i++) {
|
|
put_2(nmbs, regs[i]);
|
|
DEBUG("%d", regs[i]);
|
|
}
|
|
|
|
err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
}
|
|
}
|
|
else {
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_FUNCTION);
|
|
}
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
static nmbs_error handle_read_coils(nmbs_t* nmbs) {
|
|
return handle_read_discrete(nmbs, nmbs->callbacks.read_coils);
|
|
}
|
|
|
|
|
|
static nmbs_error handle_read_discrete_inputs(nmbs_t* nmbs) {
|
|
return handle_read_discrete(nmbs, nmbs->callbacks.read_discrete_inputs);
|
|
}
|
|
|
|
|
|
static nmbs_error handle_read_holding_registers(nmbs_t* nmbs) {
|
|
return handle_read_registers(nmbs, nmbs->callbacks.read_holding_registers);
|
|
}
|
|
|
|
|
|
static nmbs_error handle_read_input_registers(nmbs_t* nmbs) {
|
|
return handle_read_registers(nmbs, nmbs->callbacks.read_input_registers);
|
|
}
|
|
|
|
|
|
static nmbs_error handle_write_single_coil(nmbs_t* nmbs) {
|
|
nmbs_error err = recv(nmbs, 4);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t address = get_2(nmbs);
|
|
uint16_t value = get_2(nmbs);
|
|
|
|
DEBUG("a %d\tvalue %d", address, value);
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (!nmbs->msg.ignored) {
|
|
if (nmbs->callbacks.write_single_coil) {
|
|
if (value != 0 && value != 0xFF00)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
|
|
|
|
err = nmbs->callbacks.write_single_coil(address, value == 0 ? false : true);
|
|
if (err != NMBS_ERROR_NONE) {
|
|
if (nmbs_error_is_exception(err))
|
|
return handle_exception(nmbs, err);
|
|
else
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_SERVER_DEVICE_FAILURE);
|
|
}
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
send_res_header(nmbs, 4);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, value);
|
|
DEBUG("a %d\tvalue %d", address, value);
|
|
|
|
err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
}
|
|
}
|
|
else {
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_FUNCTION);
|
|
}
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
static nmbs_error handle_write_single_register(nmbs_t* nmbs) {
|
|
nmbs_error err = recv(nmbs, 4);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t address = get_2(nmbs);
|
|
uint16_t value = get_2(nmbs);
|
|
|
|
DEBUG("a %d\tvalue %d", address, value);
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (!nmbs->msg.ignored) {
|
|
if (nmbs->callbacks.write_single_register) {
|
|
err = nmbs->callbacks.write_single_register(address, value);
|
|
if (err != NMBS_ERROR_NONE) {
|
|
if (nmbs_error_is_exception(err))
|
|
return handle_exception(nmbs, err);
|
|
else
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_SERVER_DEVICE_FAILURE);
|
|
}
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
send_res_header(nmbs, 4);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, value);
|
|
DEBUG("a %d\tvalue %d", address, value);
|
|
|
|
err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
}
|
|
}
|
|
else {
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_FUNCTION);
|
|
}
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
static nmbs_error handle_write_multiple_coils(nmbs_t* nmbs) {
|
|
nmbs_error err = recv(nmbs, 5);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t address = get_2(nmbs);
|
|
uint16_t quantity = get_2(nmbs);
|
|
uint8_t coils_bytes = get_1(nmbs);
|
|
|
|
DEBUG("a %d\tq %d\tb %d\tcoils ", address, quantity, coils_bytes);
|
|
|
|
err = recv(nmbs, coils_bytes);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
nmbs_bitfield coils;
|
|
for (int i = 0; i < coils_bytes; i++) {
|
|
coils[i] = get_1(nmbs);
|
|
DEBUG("%d ", coils[i]);
|
|
}
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (!nmbs->msg.ignored) {
|
|
if (quantity < 1 || quantity > 0x07B0)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
|
|
|
|
if ((uint32_t) address + (uint32_t) quantity > 0xFFFF + 1)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS);
|
|
|
|
if (coils_bytes == 0)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
|
|
|
|
if ((quantity / 8) + 1 != coils_bytes)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
|
|
|
|
if (nmbs->callbacks.write_multiple_coils) {
|
|
err = nmbs->callbacks.write_multiple_coils(address, quantity, coils);
|
|
if (err != NMBS_ERROR_NONE) {
|
|
if (nmbs_error_is_exception(err))
|
|
return handle_exception(nmbs, err);
|
|
else
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_SERVER_DEVICE_FAILURE);
|
|
}
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
send_res_header(nmbs, 4);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, quantity);
|
|
DEBUG("a %d\tq %d", address, quantity);
|
|
|
|
err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
}
|
|
}
|
|
else {
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_FUNCTION);
|
|
}
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
static nmbs_error handle_write_multiple_registers(nmbs_t* nmbs) {
|
|
nmbs_error err = recv(nmbs, 5);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t address = get_2(nmbs);
|
|
uint16_t quantity = get_2(nmbs);
|
|
uint8_t registers_bytes = get_1(nmbs);
|
|
|
|
DEBUG("a %d\tq %d\tb %d\tregs ", address, quantity, registers_bytes);
|
|
|
|
err = recv(nmbs, registers_bytes);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t registers[0x007B];
|
|
for (int i = 0; i < registers_bytes / 2; i++) {
|
|
registers[i] = get_2(nmbs);
|
|
DEBUG("%d ", registers[i]);
|
|
}
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (!nmbs->msg.ignored) {
|
|
if (quantity < 1 || quantity > 0x007B)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
|
|
|
|
if ((uint32_t) address + (uint32_t) quantity > 0xFFFF + 1)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS);
|
|
|
|
if (registers_bytes == 0)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
|
|
|
|
if (registers_bytes != quantity * 2)
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_DATA_VALUE);
|
|
|
|
if (nmbs->callbacks.write_multiple_registers) {
|
|
err = nmbs->callbacks.write_multiple_registers(address, quantity, registers);
|
|
if (err != NMBS_ERROR_NONE) {
|
|
if (nmbs_error_is_exception(err))
|
|
return handle_exception(nmbs, err);
|
|
else
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_SERVER_DEVICE_FAILURE);
|
|
}
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
send_res_header(nmbs, 4);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, quantity);
|
|
DEBUG("a %d\tq %d", address, quantity);
|
|
|
|
err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
}
|
|
}
|
|
else {
|
|
return handle_exception(nmbs, NMBS_EXCEPTION_ILLEGAL_FUNCTION);
|
|
}
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
static nmbs_error handle_req_fc(nmbs_t* nmbs) {
|
|
DEBUG("fc %d\t", nmbs->msg.fc);
|
|
|
|
nmbs_error err;
|
|
switch (nmbs->msg.fc) {
|
|
case 1:
|
|
err = handle_read_coils(nmbs);
|
|
break;
|
|
|
|
case 2:
|
|
err = handle_read_discrete_inputs(nmbs);
|
|
break;
|
|
|
|
case 3:
|
|
err = handle_read_holding_registers(nmbs);
|
|
break;
|
|
|
|
case 4:
|
|
err = handle_read_input_registers(nmbs);
|
|
break;
|
|
|
|
case 5:
|
|
err = handle_write_single_coil(nmbs);
|
|
break;
|
|
|
|
case 6:
|
|
err = handle_write_single_register(nmbs);
|
|
break;
|
|
|
|
case 15:
|
|
err = handle_write_multiple_coils(nmbs);
|
|
break;
|
|
|
|
case 16:
|
|
err = handle_write_multiple_registers(nmbs);
|
|
break;
|
|
|
|
default:
|
|
err = NMBS_EXCEPTION_ILLEGAL_FUNCTION;
|
|
}
|
|
|
|
return err;
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_server_poll(nmbs_t* nmbs) {
|
|
msg_state_reset(nmbs);
|
|
|
|
bool first_byte_received = false;
|
|
nmbs_error err = recv_req_header(nmbs, &first_byte_received);
|
|
if (err != NMBS_ERROR_NONE) {
|
|
if (!first_byte_received && err == NMBS_ERROR_TIMEOUT)
|
|
return NMBS_ERROR_NONE;
|
|
else
|
|
return err;
|
|
}
|
|
|
|
#ifdef NMBS_DEBUG
|
|
printf("NMBS req <- ");
|
|
if (nmbs->platform.transport == NMBS_TRANSPORT_RTU) {
|
|
if (nmbs->msg.broadcast)
|
|
printf("broadcast\t");
|
|
|
|
printf("client_id %d\t", nmbs->msg.unit_id);
|
|
}
|
|
#endif
|
|
|
|
err = handle_req_fc(nmbs);
|
|
if (err != NMBS_ERROR_NONE) {
|
|
if (!nmbs_error_is_exception(err))
|
|
return err;
|
|
}
|
|
|
|
return err;
|
|
}
|
|
|
|
|
|
static nmbs_error read_discrete(nmbs_t* nmbs, uint8_t fc, uint16_t address, uint16_t quantity, nmbs_bitfield values) {
|
|
if (quantity < 1 || quantity > 2000)
|
|
return NMBS_ERROR_INVALID_ARGUMENT;
|
|
|
|
if ((uint32_t) address + (uint32_t) quantity > 0xFFFF + 1)
|
|
return NMBS_ERROR_INVALID_ARGUMENT;
|
|
|
|
msg_state_req(nmbs, fc);
|
|
send_req_header(nmbs, 4);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, quantity);
|
|
|
|
DEBUG("a %d\tq %d", address, quantity);
|
|
|
|
nmbs_error err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv_res_header(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv(nmbs, 1);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint8_t coils_bytes = get_1(nmbs);
|
|
DEBUG("b %d\t", coils_bytes);
|
|
|
|
err = recv(nmbs, coils_bytes);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
DEBUG("coils ");
|
|
for (int i = 0; i < coils_bytes; i++) {
|
|
values[i] = get_1(nmbs);
|
|
DEBUG("%d", values[i]);
|
|
}
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_read_coils(nmbs_t* nmbs, uint16_t address, uint16_t quantity, nmbs_bitfield coils_out) {
|
|
return read_discrete(nmbs, 1, address, quantity, coils_out);
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_read_discrete_inputs(nmbs_t* nmbs, uint16_t address, uint16_t quantity, nmbs_bitfield inputs_out) {
|
|
return read_discrete(nmbs, 2, address, quantity, inputs_out);
|
|
}
|
|
|
|
|
|
static nmbs_error read_registers(nmbs_t* nmbs, uint8_t fc, uint16_t address, uint16_t quantity, uint16_t* registers) {
|
|
if (quantity < 1 || quantity > 125)
|
|
return NMBS_ERROR_INVALID_ARGUMENT;
|
|
|
|
if ((uint32_t) address + (uint32_t) quantity > 0xFFFF + 1)
|
|
return NMBS_ERROR_INVALID_ARGUMENT;
|
|
|
|
msg_state_req(nmbs, fc);
|
|
send_req_header(nmbs, 4);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, quantity);
|
|
|
|
DEBUG("a %d\tq %d ", address, quantity);
|
|
|
|
nmbs_error err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv_res_header(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv(nmbs, 1);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint8_t registers_bytes = get_1(nmbs);
|
|
DEBUG("b %d\t", registers_bytes);
|
|
|
|
err = recv(nmbs, registers_bytes);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
DEBUG("regs ");
|
|
for (int i = 0; i < registers_bytes / 2; i++) {
|
|
registers[i] = get_2(nmbs);
|
|
DEBUG("%d", registers[i]);
|
|
}
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (registers_bytes != quantity * 2)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_read_holding_registers(nmbs_t* nmbs, uint16_t address, uint16_t quantity, uint16_t* registers_out) {
|
|
return read_registers(nmbs, 3, address, quantity, registers_out);
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_read_input_registers(nmbs_t* nmbs, uint16_t address, uint16_t quantity, uint16_t* registers_out) {
|
|
return read_registers(nmbs, 4, address, quantity, registers_out);
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_write_single_coil(nmbs_t* nmbs, uint16_t address, bool value) {
|
|
msg_state_req(nmbs, 5);
|
|
send_req_header(nmbs, 4);
|
|
|
|
uint16_t value_req = value ? 0xFF00 : 0;
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, value_req);
|
|
|
|
DEBUG("a %d\tvalue %d ", address, value_req);
|
|
|
|
nmbs_error err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
err = recv_res_header(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv(nmbs, 4);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t address_res = get_2(nmbs);
|
|
uint16_t value_res = get_2(nmbs);
|
|
|
|
DEBUG("a %d\tvalue %d", address, value_res);
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (address_res != address)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
|
|
if (value_res != value_req)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_write_single_register(nmbs_t* nmbs, uint16_t address, uint16_t value) {
|
|
msg_state_req(nmbs, 6);
|
|
send_req_header(nmbs, 4);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, value);
|
|
|
|
DEBUG("a %d\tvalue %d", address, value);
|
|
|
|
nmbs_error err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
err = recv_res_header(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv(nmbs, 4);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t address_res = get_2(nmbs);
|
|
uint16_t value_res = get_2(nmbs);
|
|
DEBUG("a %d\tvalue %d ", address, value_res);
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (address_res != address)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
|
|
if (value_res != value)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_write_multiple_coils(nmbs_t* nmbs, uint16_t address, uint16_t quantity, const nmbs_bitfield coils) {
|
|
if (quantity < 1 || quantity > 0x07B0)
|
|
return NMBS_ERROR_INVALID_ARGUMENT;
|
|
|
|
if ((uint32_t) address + (uint32_t) quantity > 0xFFFF + 1)
|
|
return NMBS_ERROR_INVALID_ARGUMENT;
|
|
|
|
uint8_t coils_bytes = (quantity / 8) + 1;
|
|
|
|
msg_state_req(nmbs, 15);
|
|
send_req_header(nmbs, 5 + coils_bytes);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, quantity);
|
|
put_1(nmbs, coils_bytes);
|
|
DEBUG("a %d\tq %d\tb %d\t", address, quantity, coils_bytes);
|
|
|
|
DEBUG("coils ");
|
|
for (int i = 0; i < coils_bytes; i++) {
|
|
put_1(nmbs, coils[i]);
|
|
DEBUG("%d ", coils[i]);
|
|
}
|
|
|
|
nmbs_error err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
err = recv_res_header(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv(nmbs, 4);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t address_res = get_2(nmbs);
|
|
uint16_t quantity_res = get_2(nmbs);
|
|
DEBUG("a %d\tq %d", address_res, quantity_res);
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (address_res != address)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
|
|
if (quantity_res != quantity)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_write_multiple_registers(nmbs_t* nmbs, uint16_t address, uint16_t quantity, const uint16_t* registers) {
|
|
if (quantity < 1 || quantity > 0x007B)
|
|
return NMBS_ERROR_INVALID_ARGUMENT;
|
|
|
|
if ((uint32_t) address + (uint32_t) quantity > 0xFFFF + 1)
|
|
return NMBS_ERROR_INVALID_ARGUMENT;
|
|
|
|
uint8_t registers_bytes = quantity * 2;
|
|
|
|
msg_state_req(nmbs, 16);
|
|
send_req_header(nmbs, 5 + registers_bytes);
|
|
|
|
put_2(nmbs, address);
|
|
put_2(nmbs, quantity);
|
|
put_1(nmbs, registers_bytes);
|
|
DEBUG("a %d\tq %d\tb %d\t", address, quantity, registers_bytes);
|
|
|
|
DEBUG("regs ");
|
|
for (int i = 0; i < quantity; i++) {
|
|
put_2(nmbs, registers[i]);
|
|
DEBUG("%d ", registers[i]);
|
|
}
|
|
|
|
nmbs_error err = send_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (!nmbs->msg.broadcast) {
|
|
err = recv_res_header(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv(nmbs, 4);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
uint16_t address_res = get_2(nmbs);
|
|
uint16_t quantity_res = get_2(nmbs);
|
|
DEBUG("a %d\tq %d", address_res, quantity_res);
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
if (address_res != address)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
|
|
if (quantity_res != quantity)
|
|
return NMBS_ERROR_INVALID_RESPONSE;
|
|
}
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_send_raw_pdu(nmbs_t* nmbs, uint8_t fc, const void* data, uint32_t data_len) {
|
|
msg_state_req(nmbs, fc);
|
|
send_msg_header(nmbs, data_len);
|
|
|
|
DEBUG("raw ");
|
|
for (uint32_t i = 0; i < data_len; i++) {
|
|
put_1(nmbs, ((uint8_t*) (data))[i]);
|
|
DEBUG("%d ", ((uint8_t*) (data))[i]);
|
|
}
|
|
|
|
return send_msg_footer(nmbs);
|
|
}
|
|
|
|
|
|
nmbs_error nmbs_receive_raw_pdu_response(nmbs_t* nmbs, void* data_out, uint32_t data_out_len) {
|
|
nmbs_error err = recv_res_header(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
err = recv(nmbs, data_out_len);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
for (uint32_t i = 0; i < data_out_len; i++) {
|
|
((uint8_t*) (data_out))[i] = get_1(nmbs);
|
|
}
|
|
|
|
err = recv_msg_footer(nmbs);
|
|
if (err != NMBS_ERROR_NONE)
|
|
return err;
|
|
|
|
return NMBS_ERROR_NONE;
|
|
}
|
|
|
|
|
|
#ifndef NMBS_STRERROR_DISABLED
|
|
const char* nmbs_strerror(nmbs_error error) {
|
|
switch (error) {
|
|
case NMBS_ERROR_TRANSPORT:
|
|
return "transport error";
|
|
|
|
case NMBS_ERROR_TIMEOUT:
|
|
return "timeout";
|
|
|
|
case NMBS_ERROR_INVALID_RESPONSE:
|
|
return "invalid response received";
|
|
|
|
case NMBS_ERROR_INVALID_ARGUMENT:
|
|
return "invalid argument provided";
|
|
|
|
case NMBS_ERROR_NONE:
|
|
return "no error";
|
|
|
|
case NMBS_EXCEPTION_ILLEGAL_FUNCTION:
|
|
return "modbus exception 1: illegal function";
|
|
|
|
case NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS:
|
|
return "modbus exception 2: illegal data address";
|
|
|
|
case NMBS_EXCEPTION_ILLEGAL_DATA_VALUE:
|
|
return "modbus exception 3: data value";
|
|
|
|
case NMBS_EXCEPTION_SERVER_DEVICE_FAILURE:
|
|
return "modbus exception 4: server device failure";
|
|
|
|
default:
|
|
return "unknown error";
|
|
}
|
|
}
|
|
#endif
|