#include #include "ModbusS.h" #include "config.h" #include #include "driver/ledc.h" #include "esp_err.h" #include #include "esp_log.h" #include "config.h" static const char *TAG = "main"; static const uint8_t auchCRCHi[] = { 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 } ; /* CRC??????*/ static const uint8_t auchCRCLo[] = { 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 } ; uint16_t crc16(uint8_t *puchMsg, uint16_t usDataLen) { uint8_t uchCRCHi = 0xFF ; /* ?CRC????? */ uint8_t uchCRCLo = 0xFF ; /* ?CRC ????? */ uint32_t uIndex ; /* CRC?????? */ while (usDataLen--) /* ??????? */ { uIndex = uchCRCHi ^ *puchMsg++ ; /* ??CRC */ uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex] ; uchCRCLo = auchCRCLo[uIndex] ; } return (uchCRCHi << 8 | uchCRCLo) ; }//uint16 crc16(uint8 *puchMsg, uint16 usDataLen) #pragma pack(0x10) uint16_t gWordVar[gWORD_SIZE]; uint8_t gBitVar[(gBIT_SIZE+7)/8]; #pragma pack() int isBitHI(uint16_t Add) { if(gBitVar[(Add)>>3] & (1<<((Add)&0x07))) { return 1; } else { return 0; } } void ModBusBitWriteHook(uint16_t addr, uint16_t length) { } extern void reset_depth(void); uint16_t reboot_req ; extern uint16_t last_pile_id; extern int zb_ModBusWordWriteHook(uint16_t addr, uint16_t length); void ModBusWordWriteHook(uint16_t addr, uint16_t length) { // ESP_LOGI(TAG, "ModBusWordWriteHook"); if(addr == RECORD_REG_ADDR && gWordVar[RECORD_REG_ADDR] == 0xffff){ reset_depth(); gWordVar[RECORD_REG_ADDR] = 0; } if(addr == DEPTH_RESET_ADDR && gWordVar[DEPTH_RESET_ADDR] == 0x5555){ config_load(); gWordVar[DEPTH_RESET_ADDR] = 0; } if(addr == DEPTH_RESET_ADDR && gWordVar[DEPTH_RESET_ADDR] == 0x55aa){ gWordVar[RECORD_REG_ADDR] = 9999; //强制增加桩号 reset_depth(); gWordVar[DEPTH_RESET_ADDR] = 0; } if(addr == LAST_PILE_ID_ADDR){ last_pile_id = gWordVar[LAST_PILE_ID_ADDR]; } else if(addr == FLOW_CONFIG_ADDR && gWordVar[FLOW_CONFIG_ADDR] == 0x55aa){ save_flow_cfg(); } else if(addr == DEPTH_CONFIG_ADDR && gWordVar[DEPTH_CONFIG_ADDR] == 0x55aa){ save_depth_cfg(); } else if(addr == CAL_4_20MA_ADDR && gWordVar[CAL_4_20MA_ADDR] == 0x55aa){ save_cal_4_20ma(); } // else if(addr >= FLOW_CONFIG_ADDR && addr < (FLOW_CONFIG_ADDR + sizeof(flow_config_t))/* && gWordVar[FLOW_CONFIG_ADDR] == 0x55aa */){ // save_flow_cfg(); // } // else if(addr >= DEPTH_CONFIG_ADDR && addr < (DEPTH_CONFIG_ADDR + sizeof(depth_config_t))){ // save_depth_cfg(); // } // else if(addr >= CAL_4_20MA_ADDR && addr < (CAL_4_20MA_ADDR + sizeof(cal_4_20ma_t))){ // save_cal_4_20ma(); // } else if(addr == REBOOT_REW_ADDR ){ if(gWordVar[REBOOT_REW_ADDR] == 0x55aa){ reboot_req = 0x55aa; } else if(gWordVar[REBOOT_REW_ADDR] == 0x55ab){ esp_restart(); } else if(gWordVar[REBOOT_REW_ADDR] == 0xaa55){ restore_default(); esp_restart(); } } else{ zb_ModBusWordWriteHook(addr,length); } } extern volatile int modbus_save_flg; uint16_t modbus_addr = 1; int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_crc) { uint16_t crcData,crcChk; uint8_t Offset,ByteAdd; uint16_t ByteNumber; uint16_t add; uint16_t length; int out_len = 0; int i; uint8_t *pDat; uint16_t *pWordVar; if(rxLen<4){ return 0; } /*地址校验*/ if((rxbuf[0]==modbus_addr) || (rxbuf[0]==255)){ /*crc校验*/ if(is_crc != 0){ crcData = rxbuf[rxLen-1]+(rxbuf[rxLen-2]<<8); crcChk = crc16(rxbuf,rxLen-2); if( crcData != crcChk){ return 0; } } add = ((uint16_t)rxbuf[2]<<8)+ rxbuf[3]; length = (rxbuf[4]<<8) | rxbuf[5]; txbuf[0] = rxbuf[0]; switch(rxbuf[1]) { case 0x01: //Read Coils if((add+length) > gBIT_SIZE) { txbuf[1] = 0x81; txbuf[2] = 0x02; //ILLEGAL DATA ADDRESS out_len = 3; break; } txbuf[1]=0x01; ByteNumber = (length+7)/8; txbuf[2]= ByteNumber; ByteAdd = add>>3; //add/8 Offset = add&0x07; //add%8 for(i=0; i<(ByteNumber-1); i++) { txbuf[3+i] = gBitVar[ByteAdd+i]>>Offset; txbuf[3+i] |= gBitVar[ByteAdd+i+1]<<(8-Offset); } txbuf[3+ByteNumber-1] = gBitVar[ByteAdd+ByteNumber-1]>>Offset; txbuf[3+ByteNumber-1] &= 0xff>>Offset; out_len = ByteNumber+3; break; case 0x03: case 0x04: //Read Holding Registers if((add+length) > gWORD_SIZE) { txbuf[1] = 0x80 + rxbuf[1]; txbuf[2] = 0x02; //ILLEGAL DATA ADDRESS out_len = 3;; break; } if(length > 512) { length = 512; } if(rxbuf[1]==4) { add += 64; } txbuf[1]=rxbuf[1]; ByteNumber = length*2; txbuf[2]= ByteNumber&0xff; pDat = &txbuf[3]; pWordVar = (uint16_t *)&gWordVar[add]; for(i=0; i>8; *pDat++ = *pWordVar&0xff; pWordVar++; } out_len = ByteNumber+3; break; case 0x05: //Write Single Coil if(add >= gBIT_SIZE) { txbuf[1] = 0x85; txbuf[2] = 0x02; //ILLEGAL DATA ADDRESS out_len = 3; break; } ByteAdd = add>>3; //same add/8 Offset = add&0x07; //same add%8 if(rxbuf[4] == 0) { clrBit(add); } else if(rxbuf[4] == 0xff) { setBit(add); } else { txbuf[1] = 0x85; 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 ESP_LOGI(TAG, "modbus 0x06"); if(add >= gWORD_SIZE) { txbuf[1] = 0x86; txbuf[2] = 0x02; //ILLEGAL DATA ADDRESS out_len = 3; break; } gWordVar[add] = (rxbuf[4]<<8)+rxbuf[5]; ESP_LOGI(TAG, "gWordVar[%d]=0x%04x", add, gWordVar[add]); // ESP_LOGI(TAG, "%d %d", depth_config->input_type, depth_config->port); 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>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 = (uint16_t *)&gWordVar[add]; { for(i=0; iinput_type, depth_config->port); ModBusWordWriteHook(add,length); out_len = 6; 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; }