364 lines
13 KiB
C
364 lines
13 KiB
C
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#include "ModbusS.h"
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#include "ql_gpio.h"
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#include <string.h>
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#include "osi_api.h"
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#include "ql_log.h"
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static const uint8_t auchCRCHi[] = {
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40};
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/* CRC??????*/
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static const uint8_t auchCRCLo[] = {
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0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04,
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0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8,
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0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,
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0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10,
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0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
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0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,
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0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C,
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0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0,
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0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,
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0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,
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0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C,
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0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,
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0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54,
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0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98,
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0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
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0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40};
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uint16_t crc16(uint8_t *puchMsg, uint16_t usDataLen)
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{
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uint8_t uchCRCHi = 0xFF; /* ?CRC????? */
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uint8_t uchCRCLo = 0xFF; /* ?CRC ????? */
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uint32_t uIndex; /* CRC?????? */
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while (usDataLen--) /* ??????? */
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{
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uIndex = uchCRCHi ^ *puchMsg++; /* ??CRC */
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uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];
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uchCRCLo = auchCRCLo[uIndex];
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}
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return (uchCRCHi << 8 | uchCRCLo);
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} // uint16 crc16(uint8 *puchMsg, uint16 usDataLen)
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uint16_t gWordVar[gWORD_SIZE];
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uint8_t gBitVar[(gBIT_SIZE + 7) / 8];
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int isBitHI(uint16_t Add)
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{
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if (gBitVar[(Add) >> 3] & (1 << ((Add)&0x07)))
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{
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return 1;
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}
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else
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{
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return 0;
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}
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}
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void ModBusBitWriteHook(uint16_t addr, uint16_t length)
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{
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}
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extern osiThread_t *rtk_thread;
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void ModBusWordWriteHook(uint16_t addr, uint16_t length)
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{
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// if (addr == 511 && gWordVar[511] == 0x55AA)
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// {
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// }
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// else{
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// zb_ModBusWordWriteHook(addr, length);
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// }
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if (addr == 32)
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{
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ql_gpio_set_level(GPIO_12, gWordVar[addr] & 0x01);
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ql_gpio_set_level(GPIO_8, (gWordVar[addr] >> 1) & 0x01);
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}
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if (addr == 511 && gWordVar[511] == 0x55AA)
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{
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osiEvent_t event;
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event.id = 9999; //
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osiEventSend(rtk_thread, &event);
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gWordVar[511] = 0;
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}
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}
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extern int zb_ModBusWordWriteHook(uint16_t addr, uint16_t length);
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void ModbusSetLocalReg(uint16_t addr, uint16_t value)
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{
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QL_LOG(QL_LOG_LEVEL_INFO, "[uart1_modbus_master]:" ,"enter ModbusSetLocalReg\n");
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if (addr >= gWORD_SIZE)
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{
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QL_LOG(QL_LOG_LEVEL_INFO, "[uart1_modbus_master]:" ,"addr >= gWORD_SIZE\n");
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return;
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}
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gWordVar[addr] = value;
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int bb = zb_ModBusWordWriteHook(addr, 1);
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if(bb){
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QL_LOG(QL_LOG_LEVEL_INFO, "[uart1_modbus_master]:" ,"zb_ModBusWordWriteHook sucess\n");
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}else{
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QL_LOG(QL_LOG_LEVEL_INFO, "[uart1_modbus_master]:" ,"zb_ModBusWordWriteHook fail\n");
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}
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}
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// uint16_t add_tlv(TLV *temp_tlv,uint8_t *txbuf)
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// {
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// static uint16_t distance1_last,distance2_last;
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// uint8_t cnt = 0;
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// if(temp_tlv->distance[0].is_effective)
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// {
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// if(abs(distance1_last - temp_tlv->distance[0].uwb.distance) >= flash_data.uwb_limit)//cm
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// {
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// cnt +=
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// tlv_fill_data((txbuf+cnt),TAG_DISTANCE_1,&temp_tlv->distance[0].uwb,sizeof(temp_tlv->distance[0].uwb));
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// }
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// distance1_last = temp_tlv->distance[0].uwb.distance;
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// }
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// if(temp_tlv->distance[1].is_effective)
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// {
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// if(abs(distance2_last - temp_tlv->distance[1].uwb.distance) >= flash_data.uwb_limit)//cm
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// {
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// cnt +=
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// tlv_fill_data((txbuf+cnt),TAG_DISTANCE_2,&temp_tlv->distance[1].uwb,sizeof(temp_tlv->distance[1].uwb));
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// }
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// distance2_last = temp_tlv->distance[1].uwb.distance;
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// }
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// if(temp_tlv->heartbeat.is_effective)
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// {
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// cnt +=
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// tlv_fill_data((txbuf+cnt),TAG_HEARBEAT,&temp_tlv->heartbeat.heartbeat,sizeof(temp_tlv->heartbeat.heartbeat));
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// }
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// if(temp_tlv->shock.is_effective)
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// {
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// cnt +=
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// tlv_fill_data((txbuf+cnt),TAG_SHOCK,&temp_tlv->shock.shock,sizeof(temp_tlv->shock.shock));
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// }
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// if(temp_tlv->voltage.is_effective)
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// {
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// cnt +=
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// tlv_fill_data((txbuf+cnt),TAG_VOLTAGE,&temp_tlv->voltage.voltage,sizeof(temp_tlv->voltage.voltage));
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// }
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// cnt += tlv_fill_data((txbuf+cnt),TAG_MAC_ADDR,&mac_addr.addr,sizeof(mac_addr.addr));
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// temp_tlv->distance[0].is_effective = false;
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// temp_tlv->distance[1].is_effective = false;
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// temp_tlv->heartbeat.is_effective = false;
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// temp_tlv->shock.is_effective = false;
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// temp_tlv->shock.shock.is_shock = false;
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// temp_tlv->voltage.is_effective = false;
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// return cnt;
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// }
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uint8_t slave = 1;
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int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_crc)
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{
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uint16_t crcData, crcChk;
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uint8_t Offset, ByteAdd;
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uint16_t ByteNumber;
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uint16_t add;
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uint16_t length;
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//uint16_t temp_cnt;
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int out_len = 0;
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int i;
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uint8_t *pDat;
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//uint8_t *pVar;
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uint16_t *pWordVar;
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//uint8_t tlv_len = 0;
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if (rxLen < 4)
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return 0;
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if ((rxbuf[0] == slave) || (rxbuf[0] == 255))
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{
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if (is_crc != 0)
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{
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crcData = rxbuf[rxLen - 1] + (rxbuf[rxLen - 2] << 8);
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crcChk = crc16(rxbuf, rxLen - 2);
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if (crcData != crcChk)
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{
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return 0;
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}
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}
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add = ((uint16_t)rxbuf[2] << 8) + rxbuf[3];
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// if(Length !=
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length = (rxbuf[4] << 8) | rxbuf[5];
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txbuf[0] = rxbuf[0];
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switch (rxbuf[1])
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{
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case 0x01: // Read Coils
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if ((add + length) > gBIT_SIZE)
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{
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txbuf[1] = 0x81;
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txbuf[2] = 0x02; // ILLEGAL DATA ADDRESS
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out_len = 3;
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break;
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}
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txbuf[1] = 0x01;
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ByteNumber = (length + 7) / 8;
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txbuf[2] = ByteNumber;
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ByteAdd = add >> 3; // add/8
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Offset = add & 0x07; // add%8
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for (i = 0; i < (ByteNumber - 1); i++)
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{
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txbuf[3 + i] = gBitVar[ByteAdd + i] >> Offset;
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txbuf[3 + i] |= gBitVar[ByteAdd + i + 1] << (8 - Offset);
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}
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txbuf[3 + ByteNumber - 1] = gBitVar[ByteAdd + ByteNumber - 1] >> Offset;
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txbuf[3 + ByteNumber - 1] &= 0xff >> Offset;
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out_len = ByteNumber + 3;
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break;
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case 0x03:
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case 0x04: // Read Holding Registers
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if ((add + length) > gWORD_SIZE)
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{
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txbuf[1] = 0x80 + rxbuf[1];
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txbuf[2] = 0x02; // ILLEGAL DATA ADDRESS
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out_len = 3;
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;
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break;
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}
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if (length > 512)
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{
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length = 512;
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}
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if (rxbuf[1] == 4)
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{
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add += 64;
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}
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txbuf[1] = rxbuf[1];
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ByteNumber = length * 2;
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txbuf[2] = ByteNumber & 0xff;
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pDat = &txbuf[3];
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pWordVar = &gWordVar[add];
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for (i = 0; i < length; i++)
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{
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*pDat++ = *pWordVar >> 8;
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*pDat++ = *pWordVar & 0xff;
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pWordVar++;
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}
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out_len = ByteNumber + 3;
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break;
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case 0x05: // Write Single Coil
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if (add >= gBIT_SIZE)
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{
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txbuf[1] = 0x85;
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txbuf[2] = 0x02; // ILLEGAL DATA ADDRESS
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out_len = 3;
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break;
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}
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ByteAdd = add >> 3; // same add/8
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Offset = add & 0x07; // same add%8
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if (rxbuf[4] == 0)
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{
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clrBit(add);
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}
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else if (rxbuf[4] == 0xff)
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{
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setBit(add);
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}
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else
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{
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txbuf[1] = 0x85;
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||
|
|
txbuf[2] = 0x03; // ILLEGAL DATA VALUE
|
||
|
|
out_len = 3;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
memcpy(txbuf, rxbuf, 6);
|
||
|
|
ModBusBitWriteHook(add, 1);
|
||
|
|
out_len = 6;
|
||
|
|
break;
|
||
|
|
case 0x06: // Write Single Register
|
||
|
|
if (add >= gWORD_SIZE)
|
||
|
|
{
|
||
|
|
txbuf[1] = 0x86;
|
||
|
|
txbuf[2] = 0x02; // ILLEGAL DATA ADDRESS
|
||
|
|
out_len = 3;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
gWordVar[add] = (rxbuf[4] << 8) + rxbuf[5];
|
||
|
|
memcpy(txbuf, rxbuf, 6);
|
||
|
|
ModBusWordWriteHook(add, 1);
|
||
|
|
out_len = 6;
|
||
|
|
break;
|
||
|
|
case 0x0F: // Write Multiple Coil
|
||
|
|
if ((add + length) > gBIT_SIZE)
|
||
|
|
{
|
||
|
|
txbuf[1] = 0x8F;
|
||
|
|
txbuf[2] = 0x02; // ILLEGAL DATA ADDRESS
|
||
|
|
out_len = 3;
|
||
|
|
}
|
||
|
|
txbuf[1] = 0x0F;
|
||
|
|
txbuf[2] = rxbuf[2];
|
||
|
|
txbuf[3] = rxbuf[3];
|
||
|
|
txbuf[4] = 0;
|
||
|
|
txbuf[5] = length & 0xff;
|
||
|
|
pDat = rxbuf + 7;
|
||
|
|
for (i = 0; i < length; i++)
|
||
|
|
{
|
||
|
|
if (*(pDat + (i >> 3)) & (1 << (i & 0x07)))
|
||
|
|
setBit(i + add);
|
||
|
|
else
|
||
|
|
clrBit(i + add);
|
||
|
|
}
|
||
|
|
ModBusBitWriteHook(add, length);
|
||
|
|
out_len = 6;
|
||
|
|
break;
|
||
|
|
case 0x10: // Write Multiple registers
|
||
|
|
if ((add + length) > gWORD_SIZE)
|
||
|
|
{
|
||
|
|
txbuf[1] = 0x90;
|
||
|
|
txbuf[2] = 0x02; // ILLEGAL DATA ADDRESS
|
||
|
|
crcChk = crc16(txbuf, 3);
|
||
|
|
txbuf[3] = crcChk >> 8;
|
||
|
|
txbuf[4] = crcChk;
|
||
|
|
out_len = 3;
|
||
|
|
}
|
||
|
|
txbuf[1] = 0x10;
|
||
|
|
txbuf[2] = rxbuf[2];
|
||
|
|
txbuf[3] = rxbuf[3];
|
||
|
|
txbuf[4] = 0;
|
||
|
|
txbuf[5] = length & 0xff;
|
||
|
|
pDat = rxbuf + 7;
|
||
|
|
pWordVar = &gWordVar[add];
|
||
|
|
for (i = 0; i < length; i++)
|
||
|
|
{
|
||
|
|
*pWordVar++ = (*pDat << 8) | *(pDat + 1);
|
||
|
|
pDat += 2;
|
||
|
|
}
|
||
|
|
ModBusWordWriteHook(add, length);
|
||
|
|
out_len = 6;
|
||
|
|
break;
|
||
|
|
case 33:
|
||
|
|
|
||
|
|
// txbuf[1] = 33;
|
||
|
|
// txbuf[2] = add_tlv(&t_tlv,&txbuf[3]);
|
||
|
|
// out_len = txbuf[2]+3;
|
||
|
|
// sys_para.normal_mode_para.gprs_timeout_cnt = 0;
|
||
|
|
|
||
|
|
// if(DEBUG_FLG)
|
||
|
|
// NRF_LOG_INFO("modbus ");
|
||
|
|
break;
|
||
|
|
} // switch(rxbuf[1])
|
||
|
|
|
||
|
|
if (is_crc && out_len > 0)
|
||
|
|
{
|
||
|
|
crcChk = crc16(txbuf, out_len);
|
||
|
|
txbuf[out_len++] = crcChk >> 8;
|
||
|
|
txbuf[out_len++] = crcChk & 0xff;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return out_len;
|
||
|
|
}
|