wheel/components/modbus_tcp/modbus.c

#include "modbus.h"
#include "esp_log.h"

#include <string.h>

const uint8_t local = CONFIG_MODBUS_ID;  /* 本设备的单元标识 */
static const char *TAG = "modbus";

/* Modbus所操作的寄存器和线圈数据 */
uint16_t gWordVar[gWORD_SIZE];
uint8_t gBitVar[(gBIT_SIZE + 7) / 8];

/* CRC校验 */
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};

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; 
  uint8_t uchCRCLo = 0xFF; 
  uint32_t uIndex; 
  while (usDataLen--) 
  {
    uIndex = uchCRCHi ^ *puchMsg++; 
    uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];
    uchCRCLo = auchCRCLo[uIndex];
  }
  return (uchCRCHi << 8 | uchCRCLo);
} 


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);
}


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");

  /* 单元标识符1Byte + 功能码1Byte + 地址2Byte(H、L) */
  if (rxLen < 4)
  {
    ESP_LOGI(TAG, "err:rxlen less 4");
    return 0;
  }

  /* 检查单元标识符，是否是发送给自己的数据，是则进行处理 */
  if ((rxbuf[0] == local) || (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) {
        ESP_LOGI(TAG, "err: crc fault");
        return 0;
      }
    }

    add = ((uint16_t)rxbuf[2] << 8) + rxbuf[3];
    length = (rxbuf[4] << 8) | rxbuf[5];
    // ESP_LOGI(TAG, "add: %d, length: %d", add, length);

    txbuf[0] = rxbuf[0];
    switch (rxbuf[1]) {
    case 0x01:  
      /* 读线圈：MBAP + 功能码1Byte + 起始地址2Byte(H、L) + 数量2Byte(H、L) */
      if ((add + length) > gBIT_SIZE) {
        /* 地址错误，应答错误帧：功能码最高位置1 + 错误码1Byte */
        txbuf[1] = 0x81;
        txbuf[2] = 0x02;  
        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:  /* 读保持寄存器（按字） */
    case 0x04:  /* 读输入寄存器 */
      if ((add + length) > gWORD_SIZE) {
        txbuf[1] = 0x80 + rxbuf[1];
        txbuf[2] = 0x02; 
        out_len = 3;
        ESP_LOGI(TAG, "err: add + length > gWORD_SIZE");
        break;
      }
      if (length > 512) {
        length = 512;
      }
      if (rxbuf[1] == 4) {  /* 读保持寄存器地址从64开始偏移 */
        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:  /* 写单个线圈：0x0000为OFF，0xff00为ON */
      if (add >= gBIT_SIZE) {
        txbuf[1] = 0x85;
        txbuf[2] = 0x02;  
        out_len = 3;
        ESP_LOGI(TAG, "err: add >= gBIT_SIZE");
        break;
      }
      ByteAdd = add >> 3;  
      Offset = add & 0x07;  
      if (rxbuf[4] == 0) {
        clrBit(add);
      } else if (rxbuf[4] == 0xff) {
        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:  /* 写单个保持寄存器 */
      if (add >= gWORD_SIZE) {
        ESP_LOGI(TAG, "err: add >= gWORD_SIZE");
        txbuf[1] = 0x86;
        txbuf[2] = 0x02;  
        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:  /* 写多个线圈 */
      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:  /* 写多个保持寄存器 */
      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:
      // maybe tlv...
      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;
}