wheel/main/ModbusS.c

#include "ModbusS.h"
#include "esp_log.h"

#include <string.h>

// #include "lsapi_device.h"
// #include "lsapi_menu.h"
// #include "lsapi_os.h"
// #include "lsapi_sys.h"
// #include "lsapi_types.h"
// #include "osi_api.h"
const uint8_t local = 1;
static const char *TAG = "modbus";

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)

uint16_t gWordVar[gWORD_SIZE];



// extern uint16_t *gWordVar;
uint8_t gBitVar[(gBIT_SIZE + 7) / 8];

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) {
}
void ModBusWordWriteHook(uint16_t addr, uint16_t length) {
  // zb_ModBusWordWriteHook(addr, length);
}
// uint16_t add_tlv(TLV *temp_tlv,uint8_t *txbuf)
// {
// static uint16_t distance1_last,distance2_last;
// uint8_t cnt = 0;
// if(temp_tlv->distance[0].is_effective)
// {
// 	if(abs(distance1_last - temp_tlv->distance[0].uwb.distance) >= flash_data.uwb_limit)//cm
// 	{
// 		cnt +=
// tlv_fill_data((txbuf+cnt),TAG_DISTANCE_1,&temp_tlv->distance[0].uwb,sizeof(temp_tlv->distance[0].uwb));
// 	}
// 	distance1_last = temp_tlv->distance[0].uwb.distance;
// }
// if(temp_tlv->distance[1].is_effective)
// {
// 	if(abs(distance2_last - temp_tlv->distance[1].uwb.distance) >= flash_data.uwb_limit)//cm
// 	{
// 		cnt +=
// tlv_fill_data((txbuf+cnt),TAG_DISTANCE_2,&temp_tlv->distance[1].uwb,sizeof(temp_tlv->distance[1].uwb));
// 	}
// 	distance2_last = temp_tlv->distance[1].uwb.distance;
// }
// if(temp_tlv->heartbeat.is_effective)
// {
// 	cnt +=
// tlv_fill_data((txbuf+cnt),TAG_HEARBEAT,&temp_tlv->heartbeat.heartbeat,sizeof(temp_tlv->heartbeat.heartbeat));
// }
// if(temp_tlv->shock.is_effective)
// {
// 	cnt +=
// tlv_fill_data((txbuf+cnt),TAG_SHOCK,&temp_tlv->shock.shock,sizeof(temp_tlv->shock.shock));
// }
// if(temp_tlv->voltage.is_effective)
// {
// 	cnt +=
// tlv_fill_data((txbuf+cnt),TAG_VOLTAGE,&temp_tlv->voltage.voltage,sizeof(temp_tlv->voltage.voltage));
// }

// cnt += tlv_fill_data((txbuf+cnt),TAG_MAC_ADDR,&mac_addr.addr,sizeof(mac_addr.addr));

// temp_tlv->distance[0].is_effective = false;
// temp_tlv->distance[1].is_effective = false;
// temp_tlv->heartbeat.is_effective = false;
// temp_tlv->shock.is_effective = false;
// temp_tlv->shock.shock.is_shock = false;
// temp_tlv->voltage.is_effective = false;
// return cnt;
// }
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;
  uint16_t temp_cnt;
  int out_len = 0;
  int i;
  uint8_t *pDat;
  uint8_t *pVar;
  uint16_t *pWordVar;
  uint8_t tlv_len = 0;

  ESP_LOGI(TAG, "ModbusSlaveProcess()---------------------------");

  if (rxLen < 4)
  {
    ESP_LOGI(TAG, "err:rxlen less 4");
    return 0;
  }

  ESP_LOGI(TAG, "check id...");
  if ((rxbuf[0] == local) || (rxbuf[0] == 255)) {
    ESP_LOGI(TAG, "ok");
    if (is_crc != 0) {
      ESP_LOGI(TAG, "check crc...");
      crcData = rxbuf[rxLen - 1] + (rxbuf[rxLen - 2] << 8);
      crcChk = crc16(rxbuf, rxLen - 2);
      if (crcData != crcChk) {
        ESP_LOGI(TAG, "fault");
        return 0;
      }
      ESP_LOGI(TAG, "ok");
    }

    add = ((uint16_t)rxbuf[2] << 8) + rxbuf[3];
    // if(Length !=
    length = (rxbuf[4] << 8) | rxbuf[5];
    ESP_LOGI(TAG, "add: %d, length: %d", add, length);
    txbuf[0] = rxbuf[0];
    switch (rxbuf[1]) {
    case 0x01:  // Read Coils
      ESP_LOGI(TAG, "Read Coils");
      if ((add + length) > gBIT_SIZE) {
        txbuf[1] = 0x81;
        txbuf[2] = 0x02;  // ILLEGAL DATA ADDRESS
        out_len = 3;
        ESP_LOGI(TAG, "err: add + length > gBIT_SIZE");
        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
      ESP_LOGI(TAG, "Read Holding Registers");
      if ((add + length) > gWORD_SIZE) {
        txbuf[1] = 0x80 + rxbuf[1];
        txbuf[2] = 0x02;  // ILLEGAL DATA ADDRESS
        out_len = 3;
        ESP_LOGI(TAG, "err: add + length > gWORD_SIZE");
        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 = &gWordVar[add];
      for (i = 0; i < length; i++) {
        *pDat++ = *pWordVar >> 8;
        *pDat++ = *pWordVar & 0xff;
        pWordVar++;
      }
      out_len = ByteNumber + 3;
      break;
    case 0x05:  // Write Single Coil
      ESP_LOGI(TAG, "Write Single Coil");
      if (add >= gBIT_SIZE) {
        ESP_LOGI(TAG, "err: 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) {
        ESP_LOGI(TAG, "clearBit");
        clrBit(add);
      } else if (rxbuf[4] == 0xff) {
        ESP_LOGI(TAG, "setBit");
        setBit(add);
      } else {
        ESP_LOGI(TAG, "err: rxbuf[4] != 0x00 && rxbuf[4] != 0xff");
        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, "Write Single Register");
      if (add >= gWORD_SIZE) {
        ESP_LOGI(TAG, "err: 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]=%d", add, gWordVar[add]);
      memcpy(txbuf, rxbuf, 6);
      ModBusWordWriteHook(add, 1);
      out_len = 6;
      break;
    case 0x0F:  // Write Multiple Coil
      ESP_LOGI(TAG, "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
      ESP_LOGI(TAG, "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;
}
// static input_str[512];
// static LSAPI_Device_t *gDeviceUart = NULL;
// static LSAPI_Device_t *en = NULL;

// void menu_uart_evt_cb(void *param, uint32_t evt) {
//   int len;
//   uint32_t rs485_en = 1;
//   LSAPI_OSI_Event_t *waitevent = (LSAPI_OSI_Event_t *)param;
//   memset(input_str, 0, 512);
//   LSAPI_Log_Debug("uart2 event");
//   if (evt == LS_UART_EVENT_TX_COMPLETE) {
//     LSAPI_Device_Write(en, (void *)&rs485_en, 1);
//   }
//   if (evt == LS_UART_EVENT_RX_ARRIVED) {
//     if (LSAPI_Device_ReadAvail(gDeviceUart)) {
//       len = LSAPI_Device_Read(gDeviceUart, input_str, 512);
//       LSAPI_Log_Debug("rec->%d", len);
//     }
//   }
// }

// void modbus(void) {
//   /*****************************************************************/
//   // 485 uart cfg
//   LSAPI_Device_UartConfig_t uart_cfg = {
//       .name = LSAPI_DEV_UART2,
//       .baud = 115200,
//       .format = LSAPI_DEVICE_FORMAT_8N1,
//       .parity = LSAPI_DEVICE_PARITY_ODD,
//       // .rts_enable = 1,
//       // .cts_enable = 1,
//       .event_cb = menu_uart_evt_cb,
//       .event_cb_ctx = NULL,
//   };
//   gDeviceUart = LSAPI_Device_UartCreate(&uart_cfg);
//   if (gDeviceUart == NULL) {
//     LSAPI_Log_Debug("uart create fail");
//     return;
//   }
//   LSAPI_Device_Open(gDeviceUart);
//   // LSAPI_Device_Write(gDeviceUart,"hello",5);
//   LSAPI_Log_Debug("------reg--->%8x  ", *((uint32_t *)(0x0881700c)));
//   /*****************************************************************/
//   // 485 en cfg

//   // LSAPI_GpioConfig_t gpioConfig = {0};

//   // gpioConfig.id = 5; // gpio2, just for exmaple,
//   // gpioConfig.mode = LS_GPIO_OUTPUT;
//   // gpioConfig.out_level = 1;

//   // // create instance
//   // en = LSAPI_Device_GPIOCreate(&gpioConfig);
//   // if (NULL == en)
//   // {
//   //     // error
//   //     LSAPI_Log_Debug("LSAPI_Device_GPIOCreate error.");
//   // 	return;
//   // }

//   // // open GPIO 2
//   // LSAPI_Device_Open(en);

//   en = LSAPI_Device_LedCreate(LS_LED_1);
//   LSAPI_Device_Open(en);

//   uint32_t write_value = 0;
//   LSAPI_Device_Write(en, (void *)&write_value, 1);
// }

// void rs485_send(void *buf, uint16_t len) {
//   uint32_t rs485_en = 0;
//   LSAPI_Device_Write(en, (void *)&rs485_en, 1);
//   LSAPI_Device_Write(gDeviceUart, buf, len);
// }