modbus: add raw ADU support (63942989) · Commits · Wenxi XU / zephyr

include/modbus/modbus.h

+93 −0

Original line number	Diff line number	Diff line
		@@ -36,6 +36,31 @@
		extern "C" {
		#endif

		/** Length of MBAP Header */
		#define MODBUS_MBAP_LENGTH 7
		/** Length of MBAP Header plus function code */
		#define MODBUS_MBAP_AND_FC_LENGTH (MODBUS_MBAP_LENGTH + 1)

		/**
		* @brief Frame struct used internally and for raw ADU support.
		*/
		struct modbus_adu {
		/** Transaction Identifier */
		uint16_t trans_id;
		/** Protocol Identifier */
		uint16_t proto_id;
		/** Length of the data only (not the length of unit ID + PDU) */
		uint16_t length;
		/** Unit Identifier */
		uint8_t unit_id;
		/** Function Code */
		uint8_t fc;
		/** Transaction Data */
		uint8_t data[CONFIG_MODBUS_BUFFER_SIZE - 4];
		/** RTU CRC */
		uint16_t crc;
		};

		/**
		* @brief Coil read (FC01)
		*
		@@ -347,6 +372,16 @@ struct modbus_user_callbacks {
		*/
		int modbus_iface_get_by_name(const char *iface_name);

		/**
		* @brief ADU raw callback function signature
		*
		* @param iface Modbus RTU interface index
		* @param adu Pointer to the RAW ADU struct to send
		*
		* @retval 0 If transfer was successful
		*/
		typedef int (modbus_raw_cb_t)(const int iface, const struct modbus_adu adu);

		/**
		* @brief Modbus interface mode
		*/
		@@ -355,6 +390,8 @@ enum modbus_mode {
		MODBUS_MODE_RTU,
		/** Modbus over serial line ASCII mode */
		MODBUS_MODE_ASCII,
		/** Modbus raw ADU mode */
		MODBUS_MODE_RAW,
		};

		/**
		@@ -398,6 +435,8 @@ struct modbus_iface_param {
		union {
		/** Serial support parameter of the interface */
		struct modbus_serial_param serial;
		/** Pointer to raw ADU callback function */
		modbus_raw_cb_t raw_tx_cb;
		};
		};

		@@ -432,6 +471,60 @@ int modbus_init_client(const int iface, struct modbus_iface_param param);
		*/
		int modbus_disable(const uint8_t iface);

		/**
		* @brief Submit raw ADU
		*
		* @param iface Modbus RTU interface index
		* @param adu Pointer to the RAW ADU struct that is received
		*
		* @retval 0 If transfer was successful
		*/
		int modbus_raw_submit_rx(const int iface, const struct modbus_adu *adu);

		/**
		* @brief Put MBAP header into a buffer
		*
		* @param adu Pointer to the RAW ADU struct
		* @param header Pointer to the buffer in which MBAP header
		* will be placed.
		*
		* @retval 0 If transfer was successful
		*/
		void modbus_raw_put_header(const struct modbus_adu adu, uint8_t header);

		/**
		* @brief Get MBAP header from a buffer
		*
		* @param adu Pointer to the RAW ADU struct
		* @param header Pointer to the buffer containing MBAP header
		*
		* @retval 0 If transfer was successful
		*/
		void modbus_raw_get_header(struct modbus_adu adu, const uint8_t header);

		/**
		* @brief Set Server Device Failure exception
		*
		* This function modifies ADU passed by the pointer.
		*
		* @param adu Pointer to the RAW ADU struct
		*/
		void modbus_raw_set_server_failure(struct modbus_adu *adu);

		/**
		* @brief Use interface as backend to send and receive ADU
		*
		* This function overwrites ADU passed by the pointer and generates
		* exception responses if backend interface is misconfigured or
		* target device is unreachable.
		*
		* @param iface Modbus client interface index
		* @param adu Pointer to the RAW ADU struct
		*
		* @retval 0 If transfer was successful
		*/
		int modbus_raw_backend_txn(const int iface, struct modbus_adu *adu);

		#ifdef __cplusplus
		}
		#endif

subsys/modbus/CMakeLists.txt

+5 −0

Original line number	Diff line number	Diff line
		@@ -15,6 +15,11 @@ if(CONFIG_MODBUS)
		modbus_serial.c
		)

		zephyr_library_sources_ifdef(
		CONFIG_MODBUS_RAW_ADU
		modbus_raw.c
		)

		zephyr_library_sources_ifdef(
		CONFIG_MODBUS_SERVER
		modbus_server.c

subsys/modbus/Kconfig

+12 −0

Original line number	Diff line number	Diff line
		@@ -53,6 +53,18 @@ config MODBUS_ASCII_MODE
		help
		Enable ASCII transmission mode.

		config MODBUS_RAW_ADU
		bool "Modbus raw ADU support"
		help
		Enable Modbus raw ADU support.

		config MODBUS_NUMOF_RAW_ADU
		int "Number of raw ADU instances"
		depends on MODBUS_RAW_ADU
		range 1 4
		help
		Number of raw ADU instances.

		config MODBUS_FP_EXTENSIONS
		bool "Floating-Point extensions"
		default y

subsys/modbus/modbus_core.c

+50 −0

Original line number	Diff line number	Diff line
		@@ -51,8 +51,18 @@ static struct modbus_serial_config modbus_serial_cfg[] = {
		.cfg = &modbus_serial_cfg[n], \
		},

		#define DEFINE_MODBUS_RAW_ADU(x, _) { \
		.iface_name = "RAW_"#x, \
		.raw_tx_cb = NULL, \
		.mode = MODBUS_MODE_RAW, \
		},


		static struct modbus_context mb_ctx_tbl[] = {
		DT_INST_FOREACH_STATUS_OKAY(MODBUS_DT_GET_DEV)
		#ifdef CONFIG_MODBUS_RAW_ADU
		UTIL_LISTIFY(CONFIG_MODBUS_NUMOF_RAW_ADU, DEFINE_MODBUS_RAW_ADU, _)
		#endif
		};

		static void modbus_rx_handler(struct k_work *item)
		@@ -73,6 +83,11 @@ static void modbus_rx_handler(struct k_work *item)
		ctx->rx_adu_err = modbus_serial_rx_adu(ctx);
		}
		break;
		case MODBUS_MODE_RAW:
		if (IS_ENABLED(CONFIG_MODBUS_RAW_ADU)) {
		ctx->rx_adu_err = modbus_raw_rx_adu(ctx);
		}
		break;
		default:
		LOG_ERR("Unknown MODBUS mode");
		return;
		@@ -113,6 +128,12 @@ void modbus_tx_adu(struct modbus_context *ctx)
		LOG_ERR("Unsupported MODBUS serial mode");
		}
		break;
		case MODBUS_MODE_RAW:
		if (IS_ENABLED(CONFIG_MODBUS_RAW_ADU) &&
		modbus_raw_tx_adu(ctx)) {
		LOG_ERR("Unsupported MODBUS raw mode");
		}
		break;
		default:
		LOG_ERR("Unknown MODBUS mode");
		}
		@@ -149,6 +170,17 @@ struct modbus_context *modbus_get_context(const uint8_t iface)
		return ctx;
		}

		int modbus_iface_get_by_ctx(const struct modbus_context *ctx)
		{
		for (int i = 0; i < ARRAY_SIZE(mb_ctx_tbl); i++) {
		if (&mb_ctx_tbl[i] == ctx) {
		return i;
		}
		}

		return -ENODEV;
		}

		int modbus_iface_get_by_name(const char *iface_name)
		{
		for (int i = 0; i < ARRAY_SIZE(mb_ctx_tbl); i++) {
		@@ -216,6 +248,14 @@ int modbus_init_server(const int iface, struct modbus_iface_param param)
		goto init_server_error;
		}
		break;
		case MODBUS_MODE_RAW:
		if (IS_ENABLED(CONFIG_MODBUS_RAW_ADU) &&
		modbus_raw_init(ctx, param) != 0) {
		LOG_ERR("Failed to init MODBUS raw ADU support");
		rc = -EINVAL;
		goto init_server_error;
		}
		break;
		default:
		LOG_ERR("Unknown MODBUS mode");
		rc = -ENOTSUP;
		@@ -268,6 +308,14 @@ int modbus_init_client(const int iface, struct modbus_iface_param param)
		goto init_client_error;
		}
		break;
		case MODBUS_MODE_RAW:
		if (IS_ENABLED(CONFIG_MODBUS_RAW_ADU) &&
		modbus_raw_init(ctx, param) != 0) {
		LOG_ERR("Failed to init MODBUS raw ADU support");
		rc = -EINVAL;
		goto init_client_error;
		}
		break;
		default:
		LOG_ERR("Unknown MODBUS mode");
		rc = -ENOTSUP;
		@@ -306,6 +354,8 @@ int modbus_disable(const uint8_t iface)
		modbus_serial_disable(ctx);
		}
		break;
		case MODBUS_MODE_RAW:
		break;
		default:
		LOG_ERR("Unknown MODBUS mode");
		}

subsys/modbus/modbus_internal.h

+27 −9

Original line number	Diff line number	Diff line
		@@ -61,6 +61,11 @@
		#define MODBUS_EXC_ILLEGAL_DATA_ADDR 2
		#define MODBUS_EXC_ILLEGAL_DATA_VAL 3
		#define MODBUS_EXC_SERVER_DEVICE_FAILURE 4
		#define MODBUS_EXC_ACK 5
		#define MODBUS_EXC_SERVER_DEVICE_BUSY 6
		#define MODBUS_EXC_MEM_PARITY_ERROR 8
		#define MODBUS_EXC_GW_PATH_UNAVAILABLE 10
		#define MODBUS_EXC_GW_TARGET_FAILED_TO_RESP 11

		/* Modbus RTU (ASCII) constants */
		#define MODBUS_COIL_OFF_CODE 0x0000
		@@ -72,13 +77,8 @@
		#define MODBUS_ASCII_END_FRAME_CHAR1 '\r'
		#define MODBUS_ASCII_END_FRAME_CHAR2 '\n'

		struct modbus_adu {
		uint16_t length;
		uint8_t unit_id;
		uint8_t fc;
		uint8_t data[CONFIG_MODBUS_BUFFER_SIZE - 4];
		uint16_t crc;
		};
		/* Modbus ADU constants */
		#define MODBUS_ADU_PROTO_ID 0x0000

		struct mb_rtu_gpio_config {
		const char *name;
		@@ -113,8 +113,12 @@ struct modbus_serial_config {
		struct modbus_context {
		/* Interface name */
		const char *iface_name;
		union {
		/* Serial line configuration */
		struct modbus_serial_config *cfg;
		/* RAW TX callback */
		modbus_raw_cb_t raw_tx_cb;
		};
		/* MODBUS mode */
		enum modbus_mode mode;
		/* True if interface is configured as client */
		@@ -162,6 +166,15 @@ struct modbus_context {
		*/
		struct modbus_context *modbus_get_context(const uint8_t iface);

		/**
		* @brief Get Modbus interface index.
		*
		* @param ctx Pointer to Modbus interface context
		*
		* @retval Interface index or negative error value.
		*/
		int modbus_iface_get_by_ctx(const struct modbus_context *ctx);

		/**
		* @brief Send ADU.
		*
		@@ -253,4 +266,9 @@ int modbus_serial_init(struct modbus_context *ctx,
		*/
		void modbus_serial_disable(struct modbus_context *ctx);

		int modbus_raw_rx_adu(struct modbus_context *ctx);
		int modbus_raw_tx_adu(struct modbus_context *ctx);
		int modbus_raw_init(struct modbus_context *ctx,
		struct modbus_iface_param param);

		#endif /* ZEPHYR_INCLUDE_MODBUS_INTERNAL_H_ */

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