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/*
* SPDX-FileCopyrightText: 2016-2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
// FreeModbus Slave Example ESP32
#include <stdio.h>
#include "esp_err.h"
#include "sdkconfig.h"
#include "esp_log.h"
#include "esp_system.h"
#include "esp_wifi.h"
#include "esp_event.h"
#include "esp_log.h"
#include "nvs_flash.h"
#include "mdns.h"
#include "esp_netif.h"
#include "esp_mac.h"
#include "protocol_examples_common.h"
#include "mbcontroller.h" // for mbcontroller defines and api
#include "modbus_params.h" // for modbus parameters structures
#define MB_TCP_PORT_NUMBER (CONFIG_FMB_TCP_PORT_DEFAULT)
#define MB_MDNS_PORT (502)
// Defines below are used to define register start address for each type of Modbus registers
#define HOLD_OFFSET(field) ((uint16_t)(offsetof(holding_reg_params_t, field) >> 1))
#define INPUT_OFFSET(field) ((uint16_t)(offsetof(input_reg_params_t, field) >> 1))
#define MB_REG_DISCRETE_INPUT_START (0x0000)
#define MB_REG_COILS_START (0x0000)
#define MB_REG_INPUT_START_AREA0 (INPUT_OFFSET(input_data0)) // register offset input area 0
#define MB_REG_INPUT_START_AREA1 (INPUT_OFFSET(input_data4)) // register offset input area 1
#define MB_REG_HOLDING_START_AREA0 (HOLD_OFFSET(holding_data0))
#define MB_REG_HOLDING_START_AREA1 (HOLD_OFFSET(holding_data4))
#define MB_PAR_INFO_GET_TOUT (10) // Timeout for get parameter info
#define MB_CHAN_DATA_MAX_VAL (10)
#define MB_CHAN_DATA_OFFSET (1.1f)
#define MB_READ_MASK (MB_EVENT_INPUT_REG_RD \
| MB_EVENT_HOLDING_REG_RD \
| MB_EVENT_DISCRETE_RD \
| MB_EVENT_COILS_RD)
#define MB_WRITE_MASK (MB_EVENT_HOLDING_REG_WR \
| MB_EVENT_COILS_WR)
#define MB_READ_WRITE_MASK (MB_READ_MASK | MB_WRITE_MASK)
#define MB_SLAVE_ADDR (CONFIG_MB_SLAVE_ADDR)
static const char *TAG = "SLAVE_TEST";
static portMUX_TYPE param_lock = portMUX_INITIALIZER_UNLOCKED;
#if CONFIG_MB_MDNS_IP_RESOLVER
#define MB_ID_BYTE0(id) ((uint8_t)(id))
#define MB_ID_BYTE1(id) ((uint8_t)(((uint16_t)(id) >> 8) & 0xFF))
#define MB_ID_BYTE2(id) ((uint8_t)(((uint32_t)(id) >> 16) & 0xFF))
#define MB_ID_BYTE3(id) ((uint8_t)(((uint32_t)(id) >> 24) & 0xFF))
#define MB_ID2STR(id) MB_ID_BYTE0(id), MB_ID_BYTE1(id), MB_ID_BYTE2(id), MB_ID_BYTE3(id)
#if CONFIG_FMB_CONTROLLER_SLAVE_ID_SUPPORT
#define MB_DEVICE_ID (uint32_t)CONFIG_FMB_CONTROLLER_SLAVE_ID
#endif
#define MB_MDNS_INSTANCE(pref) pref"mb_slave_tcp"
// convert mac from binary format to string
static inline char* gen_mac_str(const uint8_t* mac, char* pref, char* mac_str)
{
sprintf(mac_str, "%s%02X%02X%02X%02X%02X%02X", pref, MAC2STR(mac));
return mac_str;
}
static inline char* gen_id_str(char* service_name, char* slave_id_str)
{
sprintf(slave_id_str, "%s%02X%02X%02X%02X", service_name, MB_ID2STR(MB_DEVICE_ID));
return slave_id_str;
}
static inline char* gen_host_name_str(char* service_name, char* name)
{
sprintf(name, "%s_%02X", service_name, MB_SLAVE_ADDR);
return name;
}
static void start_mdns_service(void)
{
char temp_str[32] = {0};
uint8_t sta_mac[6] = {0};
ESP_ERROR_CHECK(esp_read_mac(sta_mac, ESP_MAC_WIFI_STA));
char* hostname = gen_host_name_str(MB_MDNS_INSTANCE(""), temp_str);
//initialize mDNS
ESP_ERROR_CHECK(mdns_init());
//set mDNS hostname (required if you want to advertise services)
ESP_ERROR_CHECK(mdns_hostname_set(hostname));
ESP_LOGI(TAG, "mdns hostname set to: [%s]", hostname);
//set default mDNS instance name
ESP_ERROR_CHECK(mdns_instance_name_set(MB_MDNS_INSTANCE("esp32_")));
//structure with TXT records
mdns_txt_item_t serviceTxtData[] = {
{"board","esp32"}
};
//initialize service
ESP_ERROR_CHECK(mdns_service_add(hostname, "_modbus", "_tcp", MB_MDNS_PORT, serviceTxtData, 1));
//add mac key string text item
ESP_ERROR_CHECK(mdns_service_txt_item_set("_modbus", "_tcp", "mac", gen_mac_str(sta_mac, "\0", temp_str)));
//add slave id key txt item
ESP_ERROR_CHECK( mdns_service_txt_item_set("_modbus", "_tcp", "mb_id", gen_id_str("\0", temp_str)));
}
static void stop_mdns_service(void)
{
mdns_free();
}
#endif
// Set register values into known state
static void setup_reg_data(void)
{
// Define initial state of parameters
discrete_reg_params.discrete_input0 = 1;
discrete_reg_params.discrete_input1 = 0;
discrete_reg_params.discrete_input2 = 1;
discrete_reg_params.discrete_input3 = 0;
discrete_reg_params.discrete_input4 = 1;
discrete_reg_params.discrete_input5 = 0;
discrete_reg_params.discrete_input6 = 1;
discrete_reg_params.discrete_input7 = 0;
holding_reg_params.holding_data0 = 1.34;
holding_reg_params.holding_data1 = 2.56;
holding_reg_params.holding_data2 = 3.78;
holding_reg_params.holding_data3 = 4.90;
holding_reg_params.holding_data4 = 5.67;
holding_reg_params.holding_data5 = 6.78;
holding_reg_params.holding_data6 = 7.79;
holding_reg_params.holding_data7 = 8.80;
coil_reg_params.coils_port0 = 0x55;
coil_reg_params.coils_port1 = 0xAA;
input_reg_params.input_data0 = 1.12;
input_reg_params.input_data1 = 2.34;
input_reg_params.input_data2 = 3.56;
input_reg_params.input_data3 = 4.78;
input_reg_params.input_data4 = 1.12;
input_reg_params.input_data5 = 2.34;
input_reg_params.input_data6 = 3.56;
input_reg_params.input_data7 = 4.78;
}
static void slave_operation_func(void *arg)
{
mb_param_info_t reg_info; // keeps the Modbus registers access information
ESP_LOGI(TAG, "Modbus slave stack initialized.");
ESP_LOGI(TAG, "Start modbus test...");
// The cycle below will be terminated when parameter holding_data0
// incremented each access cycle reaches the CHAN_DATA_MAX_VAL value.
for(;holding_reg_params.holding_data0 < MB_CHAN_DATA_MAX_VAL;) {
// Check for read/write events of Modbus master for certain events
(void)mbc_slave_check_event(MB_READ_WRITE_MASK);
ESP_ERROR_CHECK_WITHOUT_ABORT(mbc_slave_get_param_info(®_info, MB_PAR_INFO_GET_TOUT));
const char* rw_str = (reg_info.type & MB_READ_MASK) ? "READ" : "WRITE";
// Filter events and process them accordingly
if(reg_info.type & (MB_EVENT_HOLDING_REG_WR | MB_EVENT_HOLDING_REG_RD)) {
// Get parameter information from parameter queue
ESP_LOGI(TAG, "HOLDING %s (%" PRIu32 " us), ADDR:%u, TYPE:%u, INST_ADDR:0x%" PRIx32 ", SIZE:%u",
rw_str,
reg_info.time_stamp,
(unsigned)reg_info.mb_offset,
(unsigned)reg_info.type,
(uint32_t)reg_info.address,
(unsigned)reg_info.size);
if (reg_info.address == (uint8_t*)&holding_reg_params.holding_data0)
{
portENTER_CRITICAL(¶m_lock);
holding_reg_params.holding_data0 += MB_CHAN_DATA_OFFSET;
if (holding_reg_params.holding_data0 >= (MB_CHAN_DATA_MAX_VAL - MB_CHAN_DATA_OFFSET)) {
coil_reg_params.coils_port1 = 0xFF;
}
portEXIT_CRITICAL(¶m_lock);
}
} else if (reg_info.type & MB_EVENT_INPUT_REG_RD) {
ESP_LOGI(TAG, "INPUT READ (%" PRIu32 " us), ADDR:%u, TYPE:%u, INST_ADDR:0x%" PRIx32 ", SIZE:%u",
reg_info.time_stamp,
(unsigned)reg_info.mb_offset,
(unsigned)reg_info.type,
(uint32_t)reg_info.address,
(unsigned)reg_info.size);
} else if (reg_info.type & MB_EVENT_DISCRETE_RD) {
ESP_LOGI(TAG, "DISCRETE READ (%" PRIu32 " us), ADDR:%u, TYPE:%u, INST_ADDR:0x%" PRIx32 ", SIZE:%u",
reg_info.time_stamp,
(unsigned)reg_info.mb_offset,
(unsigned)reg_info.type,
(uint32_t)reg_info.address,
(unsigned)reg_info.size);
} else if (reg_info.type & (MB_EVENT_COILS_RD | MB_EVENT_COILS_WR)) {
ESP_LOGI(TAG, "COILS %s (%" PRIu32 " us), ADDR:%u, TYPE:%u, INST_ADDR:0x%" PRIx32 ", SIZE:%u",
rw_str,
reg_info.time_stamp,
(unsigned)reg_info.mb_offset,
(unsigned)reg_info.type,
(uint32_t)reg_info.address,
(unsigned)reg_info.size);
if (coil_reg_params.coils_port1 == 0xFF) break;
}
}
// Destroy of Modbus controller on alarm
ESP_LOGI(TAG,"Modbus controller destroyed.");
vTaskDelay(100);
}
static esp_err_t init_services(void)
{
esp_err_t result = nvs_flash_init();
if (result == ESP_ERR_NVS_NO_FREE_PAGES || result == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK(nvs_flash_erase());
result = nvs_flash_init();
}
MB_RETURN_ON_FALSE((result == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"nvs_flash_init fail, returns(0x%x).",
(int)result);
result = esp_netif_init();
MB_RETURN_ON_FALSE((result == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"esp_netif_init fail, returns(0x%x).",
(int)result);
result = esp_event_loop_create_default();
MB_RETURN_ON_FALSE((result == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"esp_event_loop_create_default fail, returns(0x%x).",
(int)result);
#if CONFIG_MB_MDNS_IP_RESOLVER
// Start mdns service and register device
start_mdns_service();
#endif
// This helper function configures Wi-Fi or Ethernet, as selected in menuconfig.
// Read "Establishing Wi-Fi or Ethernet Connection" section in
// examples/protocols/README.md for more information about this function.
result = example_connect();
MB_RETURN_ON_FALSE((result == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"example_connect fail, returns(0x%x).",
(int)result);
#if CONFIG_EXAMPLE_CONNECT_WIFI
result = esp_wifi_set_ps(WIFI_PS_NONE);
MB_RETURN_ON_FALSE((result == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"esp_wifi_set_ps fail, returns(0x%x).",
(int)result);
#endif
return ESP_OK;
}
static esp_err_t destroy_services(void)
{
esp_err_t err = ESP_OK;
err = example_disconnect();
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"example_disconnect fail, returns(0x%x).",
(int)err);
err = esp_event_loop_delete_default();
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"esp_event_loop_delete_default fail, returns(0x%x).",
(int)err);
err = esp_netif_deinit();
MB_RETURN_ON_FALSE((err == ESP_OK || err == ESP_ERR_NOT_SUPPORTED), ESP_ERR_INVALID_STATE,
TAG,
"esp_netif_deinit fail, returns(0x%x).",
(int)err);
err = nvs_flash_deinit();
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"nvs_flash_deinit fail, returns(0x%x).",
(int)err);
#if CONFIG_MB_MDNS_IP_RESOLVER
stop_mdns_service();
#endif
return err;
}
// Modbus slave initialization
static esp_err_t slave_init(mb_communication_info_t* comm_info)
{
mb_register_area_descriptor_t reg_area; // Modbus register area descriptor structure
void* slave_handler = NULL;
// Initialization of Modbus controller
esp_err_t err = mbc_slave_init_tcp(&slave_handler);
MB_RETURN_ON_FALSE((err == ESP_OK && slave_handler != NULL), ESP_ERR_INVALID_STATE,
TAG,
"mb controller initialization fail.");
comm_info->ip_addr = NULL; // Bind to any address
comm_info->ip_netif_ptr = (void*)get_example_netif();
comm_info->slave_uid = MB_SLAVE_ADDR;
// Setup communication parameters and start stack
err = mbc_slave_setup((void*)comm_info);
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_setup fail, returns(0x%x).",
(int)err);
// The code below initializes Modbus register area descriptors
// for Modbus Holding Registers, Input Registers, Coils and Discrete Inputs
// Initialization should be done for each supported Modbus register area according to register map.
// When external master trying to access the register in the area that is not initialized
// by mbc_slave_set_descriptor() API call then Modbus stack
// will send exception response for this register area.
reg_area.type = MB_PARAM_HOLDING; // Set type of register area
reg_area.start_offset = MB_REG_HOLDING_START_AREA0; // Offset of register area in Modbus protocol
reg_area.address = (void*)&holding_reg_params.holding_data0; // Set pointer to storage instance
reg_area.size = (MB_REG_HOLDING_START_AREA1 - MB_REG_HOLDING_START_AREA0) << 1; // Set the size of register storage instance
err = mbc_slave_set_descriptor(reg_area);
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_set_descriptor fail, returns(0x%x).",
(int)err);
reg_area.type = MB_PARAM_HOLDING; // Set type of register area
reg_area.start_offset = MB_REG_HOLDING_START_AREA1; // Offset of register area in Modbus protocol
reg_area.address = (void*)&holding_reg_params.holding_data4; // Set pointer to storage instance
reg_area.size = sizeof(float) << 2; // Set the size of register storage instance
err = mbc_slave_set_descriptor(reg_area);
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_set_descriptor fail, returns(0x%x).",
(int)err);
// Initialization of Input Registers area
reg_area.type = MB_PARAM_INPUT;
reg_area.start_offset = MB_REG_INPUT_START_AREA0;
reg_area.address = (void*)&input_reg_params.input_data0;
reg_area.size = sizeof(float) << 2;
err = mbc_slave_set_descriptor(reg_area);
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_set_descriptor fail, returns(0x%x).",
(int)err);
reg_area.type = MB_PARAM_INPUT;
reg_area.start_offset = MB_REG_INPUT_START_AREA1;
reg_area.address = (void*)&input_reg_params.input_data4;
reg_area.size = sizeof(float) << 2;
err = mbc_slave_set_descriptor(reg_area);
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_set_descriptor fail, returns(0x%x).",
(int)err);
// Initialization of Coils register area
reg_area.type = MB_PARAM_COIL;
reg_area.start_offset = MB_REG_COILS_START;
reg_area.address = (void*)&coil_reg_params;
reg_area.size = sizeof(coil_reg_params);
err = mbc_slave_set_descriptor(reg_area);
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_set_descriptor fail, returns(0x%x).",
(int)err);
// Initialization of Discrete Inputs register area
reg_area.type = MB_PARAM_DISCRETE;
reg_area.start_offset = MB_REG_DISCRETE_INPUT_START;
reg_area.address = (void*)&discrete_reg_params;
reg_area.size = sizeof(discrete_reg_params);
err = mbc_slave_set_descriptor(reg_area);
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_set_descriptor fail, returns(0x%x).",
(int)err);
// Set values into known state
setup_reg_data();
// Starts of modbus controller and stack
err = mbc_slave_start();
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_start fail, returns(0x%x).",
(int)err);
vTaskDelay(5);
return err;
}
static esp_err_t slave_destroy(void)
{
esp_err_t err = mbc_slave_destroy();
MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE,
TAG,
"mbc_slave_destroy fail, returns(0x%x).",
(int)err);
return err;
}
// An example application of Modbus slave. It is based on freemodbus stack.
// See deviceparams.h file for more information about assigned Modbus parameters.
// These parameters can be accessed from main application and also can be changed
// by external Modbus master host.
void app_main(void)
{
ESP_ERROR_CHECK(init_services());
// Set UART log level
esp_log_level_set(TAG, ESP_LOG_INFO);
mb_communication_info_t comm_info = { 0 };
#if !CONFIG_EXAMPLE_CONNECT_IPV6
comm_info.ip_addr_type = MB_IPV4;
#else
comm_info.ip_addr_type = MB_IPV6;
#endif
comm_info.ip_mode = MB_MODE_TCP;
comm_info.ip_port = MB_TCP_PORT_NUMBER;
ESP_ERROR_CHECK(slave_init(&comm_info));
// The Modbus slave logic is located in this function (user handling of Modbus)
slave_operation_func(NULL);
ESP_ERROR_CHECK(slave_destroy());
ESP_ERROR_CHECK(destroy_services());
}
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