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modbus: move serial line config outside context

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Move serial line config outside context.

Signed-off-by: Johann Fischer <johann.fischer@nordicsemi.no>
This commit is contained in:
Johann Fischer 2021-03-03 14:58:39 +01:00 • committed by Carles Cufí
commit b132ab556c
3 changed files with 145 additions and 113 deletions
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15
subsys/modbus/modbus_core.c
View file

@ -34,13 +34,21 @@ DT_INST_FOREACH_STATUS_OKAY(MB_RTU_DEFINE_GPIO_CFGS)
COND_CODE_1(DT_INST_NODE_HAS_PROP(n, d), \
(&d##_cfg_##n), (NULL))
#define MODBUS_DT_GET_DEV(n) { \
.iface_name = DT_INST_LABEL(n), \
#define MODBUS_DT_GET_SERIAL_DEV(n) { \
.dev_name = DT_INST_BUS_LABEL(n), \
.de = MB_RTU_ASSIGN_GPIO_CFG(n, de_gpios), \
.re = MB_RTU_ASSIGN_GPIO_CFG(n, re_gpios), \
},
static struct modbus_serial_config modbus_serial_cfg[] = {
DT_INST_FOREACH_STATUS_OKAY(MODBUS_DT_GET_SERIAL_DEV)
};
#define MODBUS_DT_GET_DEV(n) { \
.iface_name = DT_INST_LABEL(n), \
.cfg = &modbus_serial_cfg[n], \
},
static struct modbus_context mb_ctx_tbl[] = {
DT_INST_FOREACH_STATUS_OKAY(MODBUS_DT_GET_DEV)
};
@ -156,9 +164,6 @@ static struct modbus_context *mb_cfg_iface(const uint8_t iface,
ctx->mbs_user_cb = NULL;
k_mutex_init(&ctx->iface_lock);
ctx->uart_buf_ctr = 0;
ctx->uart_buf_ptr = &ctx->uart_buf[0];
k_sem_init(&ctx->client_wait_sem, 0, 1);
k_work_init(&ctx->server_work, modbus_rx_handler);

48
subsys/modbus/modbus_internal.h
View file

@ -1,5 +1,6 @@
/*
* Copyright (c) 2020 PHYTEC Messtechnik GmbH
* Copyright (c) 2021 Nordic Semiconductor ASA
*
* SPDX-License-Identifier: Apache-2.0
*/
@ -91,33 +92,44 @@ enum modbus_mode {
MODBUS_MODE_ASCII,
};
#define MODBUS_STATE_CONFIGURED 0
struct modbus_context {
/* Interface name */
const char *iface_name;
struct modbus_serial_config {
/* UART device name */
const char *dev_name;
/* UART device */
const struct device *dev;
/* MODBUS mode */
enum modbus_mode mode;
/* True if interface is configured as client */
bool client;
/* Amount of time client is willing to wait for response from server */
uint32_t rxwait_to;
/* RTU timeout (maximum inter-frame delay) */
uint32_t rtu_timeout;
/* Pointer to user server callbacks */
struct modbus_user_callbacks *mbs_user_cb;
/* Interface state */
atomic_t state;
/* Pointer to current position in buffer */
uint8_t *uart_buf_ptr;
/* Pointer to driver enable (DE) pin config */
struct mb_rtu_gpio_config *de;
/* Pointer to receiver enable (nRE) pin config */
struct mb_rtu_gpio_config *re;
/* RTU timer to detect frame end point */
struct k_timer rtu_timer;
/* Number of bytes received or to send */
uint16_t uart_buf_ctr;
/* Storage of received characters or characters to send */
uint8_t uart_buf[CONFIG_MODBUS_BUFFER_SIZE];
};
#define MODBUS_STATE_CONFIGURED 0
struct modbus_context {
/* Interface name */
const char *iface_name;
/* Serial line configuration */
struct modbus_serial_config *cfg;
/* MODBUS mode */
enum modbus_mode mode;
/* True if interface is configured as client */
bool client;
/* Amount of time client is willing to wait for response from server */
uint32_t rxwait_to;
/* Pointer to user server callbacks */
struct modbus_user_callbacks *mbs_user_cb;
/* Interface state */
atomic_t state;
/* Client's mutually exclusive access */
struct k_mutex iface_lock;
@ -125,15 +137,11 @@ struct modbus_context {
struct k_sem client_wait_sem;
/* Server work item */
struct k_work server_work;
/* RTU timer to detect frame end point */
struct k_timer rtu_timer;
/* Received frame */
struct mb_rtu_frame rx_frame;
/* Frame to transmit */
struct mb_rtu_frame tx_frame;
/* Number of bytes received or to send */
uint16_t uart_buf_ctr;
/* Records error from frame reception, e.g. CRC error */
int rx_frame_err;
@ -146,8 +154,6 @@ struct modbus_context {
#endif
/* Node address */
uint8_t node_addr;
/* Storage of received characters or characters to send */
uint8_t uart_buf[CONFIG_MODBUS_BUFFER_SIZE];
};

195
subsys/modbus/modbus_serial.c
View file

@ -30,35 +30,43 @@ LOG_MODULE_REGISTER(modbus_serial, CONFIG_MODBUS_LOG_LEVEL);
static void modbus_serial_tx_on(struct modbus_context *ctx)
{
if (ctx->de != NULL) {
gpio_pin_set(ctx->de->dev, ctx->de->pin, 1);
struct modbus_serial_config *cfg = ctx->cfg;
if (cfg->de != NULL) {
gpio_pin_set(cfg->de->dev, cfg->de->pin, 1);
}
uart_irq_tx_enable(ctx->dev);
uart_irq_tx_enable(cfg->dev);
}
static void modbus_serial_tx_off(struct modbus_context *ctx)
{
uart_irq_tx_disable(ctx->dev);
if (ctx->de != NULL) {
gpio_pin_set(ctx->de->dev, ctx->de->pin, 0);
struct modbus_serial_config *cfg = ctx->cfg;
uart_irq_tx_disable(cfg->dev);
if (cfg->de != NULL) {
gpio_pin_set(cfg->de->dev, cfg->de->pin, 0);
}
}
static void modbus_serial_rx_on(struct modbus_context *ctx)
{
if (ctx->re != NULL) {
gpio_pin_set(ctx->re->dev, ctx->re->pin, 1);
struct modbus_serial_config *cfg = ctx->cfg;
if (cfg->re != NULL) {
gpio_pin_set(cfg->re->dev, cfg->re->pin, 1);
}
uart_irq_rx_enable(ctx->dev);
uart_irq_rx_enable(cfg->dev);
}
static void modbus_serial_rx_off(struct modbus_context *ctx)
{
uart_irq_rx_disable(ctx->dev);
if (ctx->re != NULL) {
gpio_pin_set(ctx->re->dev, ctx->re->pin, 0);
struct modbus_serial_config *cfg = ctx->cfg;
uart_irq_rx_disable(cfg->dev);
if (cfg->re != NULL) {
gpio_pin_set(cfg->re->dev, cfg->re->pin, 0);
}
}
@ -89,13 +97,14 @@ static uint8_t modbus_ascii_get_lrc(uint8_t *src, size_t length)
/* Parses and converts an ASCII mode frame into a Modbus RTU frame. */
static int modbus_ascii_rx_frame(struct modbus_context *ctx)
{
struct modbus_serial_config *cfg = ctx->cfg;
uint8_t *pmsg;
uint8_t *prx_data;
uint16_t rx_size;
uint8_t frame_lrc;
uint8_t calc_lrc;
rx_size = ctx->uart_buf_ctr;
rx_size = cfg->uart_buf_ctr;
prx_data = &ctx->rx_frame.data[0];
if (!(rx_size & 0x01)) {
@ -108,9 +117,9 @@ static int modbus_ascii_rx_frame(struct modbus_context *ctx)
return -EMSGSIZE;
}
if ((ctx->uart_buf[0] != MODBUS_ASCII_START_FRAME_CHAR) ||
(ctx->uart_buf[rx_size - 2] != MODBUS_ASCII_END_FRAME_CHAR1) ||
(ctx->uart_buf[rx_size - 1] != MODBUS_ASCII_END_FRAME_CHAR2)) {
if ((cfg->uart_buf[0] != MODBUS_ASCII_START_FRAME_CHAR) ||
(cfg->uart_buf[rx_size - 2] != MODBUS_ASCII_END_FRAME_CHAR1) ||
(cfg->uart_buf[rx_size - 1] != MODBUS_ASCII_END_FRAME_CHAR2)) {
LOG_WRN("Frame character error");
return -EMSGSIZE;
}
@ -118,7 +127,7 @@ static int modbus_ascii_rx_frame(struct modbus_context *ctx)
/* Take away for the ':', CR, and LF */
rx_size -= 3;
/* Point past the ':' to the address. */
pmsg = &ctx->uart_buf[1];
pmsg = &cfg->uart_buf[1];
hex2bin(pmsg, 2, &ctx->rx_frame.addr, 1);
pmsg += 2;
@ -148,8 +157,8 @@ static int modbus_ascii_rx_frame(struct modbus_context *ctx)
* by the sender. We thus need to subtract 5 'ASCII' characters
* from the received message to exclude these.
*/
calc_lrc = modbus_ascii_get_lrc(&ctx->uart_buf[1],
(ctx->uart_buf_ctr - 5) / 2);
calc_lrc = modbus_ascii_get_lrc(&cfg->uart_buf[1],
(cfg->uart_buf_ctr - 5) / 2);
if (calc_lrc != frame_lrc) {
LOG_ERR("Calculated LRC does not match received LRC");
@ -174,15 +183,16 @@ static uint8_t *modbus_ascii_bin2hex(uint8_t value, uint8_t *pbuf)
static void modbus_ascii_tx_frame(struct modbus_context *ctx)
{
struct modbus_serial_config *cfg = ctx->cfg;
uint16_t tx_bytes = 0;
uint8_t lrc;
uint8_t *pbuf;
/* Place the start-of-frame character into output buffer */
ctx->uart_buf[0] = MODBUS_ASCII_START_FRAME_CHAR;
cfg->uart_buf[0] = MODBUS_ASCII_START_FRAME_CHAR;
tx_bytes = 1;
pbuf = &ctx->uart_buf[1];
pbuf = &cfg->uart_buf[1];
pbuf = modbus_ascii_bin2hex(ctx->tx_frame.addr, pbuf);
tx_bytes += 2;
pbuf = modbus_ascii_bin2hex(ctx->tx_frame.fc, pbuf);
@ -201,7 +211,7 @@ static void modbus_ascii_tx_frame(struct modbus_context *ctx)
* Thus we subtract 1 ASCII character from the LRC.
* The LRC and CR/LF bytes are not YET in the .uart_buf[].
*/
lrc = modbus_ascii_get_lrc(&ctx->uart_buf[1], (tx_bytes - 1) / 2);
lrc = modbus_ascii_get_lrc(&cfg->uart_buf[1], (tx_bytes - 1) / 2);
pbuf = modbus_ascii_bin2hex(lrc, pbuf);
tx_bytes += 2;
@ -210,8 +220,8 @@ static void modbus_ascii_tx_frame(struct modbus_context *ctx)
tx_bytes += 2;
/* Update the total number of bytes to send */
ctx->uart_buf_ctr = tx_bytes;
ctx->uart_buf_ptr = &ctx->uart_buf[0];
cfg->uart_buf_ctr = tx_bytes;
cfg->uart_buf_ptr = &cfg->uart_buf[0];
LOG_DBG("Start frame transmission");
modbus_serial_rx_off(ctx);
@ -262,31 +272,32 @@ static uint16_t modbus_rtu_crc16(uint8_t *src, size_t length)
/* Copy Modbus RTU frame and check if the CRC is valid. */
static int modbus_rtu_rx_frame(struct modbus_context *ctx)
{
struct modbus_serial_config *cfg = ctx->cfg;
uint16_t calc_crc;
uint16_t crc_idx;
uint8_t *data_ptr;
/* Is the message long enough? */
if ((ctx->uart_buf_ctr < MODBUS_RTU_MIN_MSG_SIZE) ||
(ctx->uart_buf_ctr > CONFIG_MODBUS_BUFFER_SIZE)) {
if ((cfg->uart_buf_ctr < MODBUS_RTU_MIN_MSG_SIZE) ||
(cfg->uart_buf_ctr > CONFIG_MODBUS_BUFFER_SIZE)) {
LOG_WRN("Frame length error");
return -EMSGSIZE;
}
ctx->rx_frame.addr = ctx->uart_buf[0];
ctx->rx_frame.fc = ctx->uart_buf[1];
data_ptr = &ctx->uart_buf[2];
ctx->rx_frame.addr = cfg->uart_buf[0];
ctx->rx_frame.fc = cfg->uart_buf[1];
data_ptr = &cfg->uart_buf[2];
/* Payload length without node address, function code, and CRC */
ctx->rx_frame.length = ctx->uart_buf_ctr - 4;
ctx->rx_frame.length = cfg->uart_buf_ctr - 4;
/* CRC index */
crc_idx = ctx->uart_buf_ctr - sizeof(uint16_t);
crc_idx = cfg->uart_buf_ctr - sizeof(uint16_t);
memcpy(ctx->rx_frame.data, data_ptr, ctx->rx_frame.length);
ctx->rx_frame.crc = sys_get_le16(&ctx->uart_buf[crc_idx]);
ctx->rx_frame.crc = sys_get_le16(&cfg->uart_buf[crc_idx]);
/* Calculate CRC over address, function code, and payload */
calc_crc = modbus_rtu_crc16(&ctx->uart_buf[0],
ctx->uart_buf_ctr - sizeof(ctx->rx_frame.crc));
calc_crc = modbus_rtu_crc16(&cfg->uart_buf[0],
cfg->uart_buf_ctr - sizeof(ctx->rx_frame.crc));
if (ctx->rx_frame.crc != calc_crc) {
LOG_WRN("Calculated CRC does not match received CRC");
@ -298,26 +309,27 @@ static int modbus_rtu_rx_frame(struct modbus_context *ctx)
static void rtu_tx_frame(struct modbus_context *ctx)
{
struct modbus_serial_config *cfg = ctx->cfg;
uint16_t tx_bytes = 0;
uint8_t *data_ptr;
ctx->uart_buf[0] = ctx->tx_frame.addr;
ctx->uart_buf[1] = ctx->tx_frame.fc;
cfg->uart_buf[0] = ctx->tx_frame.addr;
cfg->uart_buf[1] = ctx->tx_frame.fc;
tx_bytes = 2 + ctx->tx_frame.length;
data_ptr = &ctx->uart_buf[2];
data_ptr = &cfg->uart_buf[2];
memcpy(data_ptr, ctx->tx_frame.data, ctx->tx_frame.length);
ctx->tx_frame.crc = modbus_rtu_crc16(&ctx->uart_buf[0],
ctx->tx_frame.crc = modbus_rtu_crc16(&cfg->uart_buf[0],
ctx->tx_frame.length + 2);
sys_put_le16(ctx->tx_frame.crc,
&ctx->uart_buf[ctx->tx_frame.length + 2]);
&cfg->uart_buf[ctx->tx_frame.length + 2]);
tx_bytes += 2;
ctx->uart_buf_ctr = tx_bytes;
ctx->uart_buf_ptr = &ctx->uart_buf[0];
cfg->uart_buf_ctr = tx_bytes;
cfg->uart_buf_ptr = &cfg->uart_buf[0];
LOG_HEXDUMP_DBG(ctx->uart_buf, ctx->uart_buf_ctr, "uart_buf");
LOG_HEXDUMP_DBG(cfg->uart_buf, cfg->uart_buf_ctr, "uart_buf");
LOG_DBG("Start frame transmission");
modbus_serial_rx_off(ctx);
modbus_serial_tx_on(ctx);
@ -329,24 +341,26 @@ static void rtu_tx_frame(struct modbus_context *ctx)
*/
static void cb_handler_rx(struct modbus_context *ctx)
{
struct modbus_serial_config *cfg = ctx->cfg;
if ((ctx->mode == MODBUS_MODE_ASCII) &&
IS_ENABLED(CONFIG_MODBUS_ASCII_MODE)) {
uint8_t c;
if (uart_fifo_read(ctx->dev, &c, 1) != 1) {
if (uart_fifo_read(cfg->dev, &c, 1) != 1) {
LOG_ERR("Failed to read UART");
return;
}
if (c == MODBUS_ASCII_START_FRAME_CHAR) {
/* Restart a new frame */
ctx->uart_buf_ptr = &ctx->uart_buf[0];
ctx->uart_buf_ctr = 0;
cfg->uart_buf_ptr = &cfg->uart_buf[0];
cfg->uart_buf_ctr = 0;
}
if (ctx->uart_buf_ctr < CONFIG_MODBUS_BUFFER_SIZE) {
*ctx->uart_buf_ptr++ = c;
ctx->uart_buf_ctr++;
if (cfg->uart_buf_ctr < CONFIG_MODBUS_BUFFER_SIZE) {
*cfg->uart_buf_ptr++ = c;
cfg->uart_buf_ctr++;
}
if (c == MODBUS_ASCII_END_FRAME_CHAR2) {
@ -357,30 +371,31 @@ static void cb_handler_rx(struct modbus_context *ctx)
int n;
/* Restart timer on a new character */
k_timer_start(&ctx->rtu_timer,
K_USEC(ctx->rtu_timeout), K_NO_WAIT);
k_timer_start(&cfg->rtu_timer,
K_USEC(cfg->rtu_timeout), K_NO_WAIT);
n = uart_fifo_read(ctx->dev, ctx->uart_buf_ptr,
n = uart_fifo_read(cfg->dev, cfg->uart_buf_ptr,
(CONFIG_MODBUS_BUFFER_SIZE -
ctx->uart_buf_ctr));
cfg->uart_buf_ctr));
ctx->uart_buf_ptr += n;
ctx->uart_buf_ctr += n;
cfg->uart_buf_ptr += n;
cfg->uart_buf_ctr += n;
}
}
static void cb_handler_tx(struct modbus_context *ctx)
{
struct modbus_serial_config *cfg = ctx->cfg;
int n;
if (ctx->uart_buf_ctr > 0) {
n = uart_fifo_fill(ctx->dev, ctx->uart_buf_ptr,
ctx->uart_buf_ctr);
ctx->uart_buf_ctr -= n;
ctx->uart_buf_ptr += n;
if (cfg->uart_buf_ctr > 0) {
n = uart_fifo_fill(cfg->dev, cfg->uart_buf_ptr,
cfg->uart_buf_ctr);
cfg->uart_buf_ctr -= n;
cfg->uart_buf_ptr += n;
} else {
/* Disable transmission */
ctx->uart_buf_ptr = &ctx->uart_buf[0];
cfg->uart_buf_ptr = &cfg->uart_buf[0];
modbus_serial_tx_off(ctx);
modbus_serial_rx_on(ctx);
}
@ -389,19 +404,20 @@ static void cb_handler_tx(struct modbus_context *ctx)
static void uart_cb_handler(const struct device *dev, void *app_data)
{
struct modbus_context *ctx = (struct modbus_context *)app_data;
struct modbus_serial_config *cfg = ctx->cfg;
if (ctx == NULL) {
LOG_ERR("Modbus hardware is not properly initialized");
return;
}
while (uart_irq_update(ctx->dev) && uart_irq_is_pending(ctx->dev)) {
while (uart_irq_update(cfg->dev) && uart_irq_is_pending(cfg->dev)) {
if (uart_irq_rx_ready(ctx->dev)) {
if (uart_irq_rx_ready(cfg->dev)) {
cb_handler_rx(ctx);
}
if (uart_irq_tx_ready(ctx->dev)) {
if (uart_irq_tx_ready(cfg->dev)) {
cb_handler_tx(ctx);
}
}
@ -424,27 +440,29 @@ static void rtu_tmr_handler(struct k_timer *t_id)
static int configure_gpio(struct modbus_context *ctx)
{
if (ctx->de != NULL) {
ctx->de->dev = device_get_binding(ctx->de->name);
if (ctx->de->dev == NULL) {
struct modbus_serial_config *cfg = ctx->cfg;
if (cfg->de != NULL) {
cfg->de->dev = device_get_binding(cfg->de->name);
if (cfg->de->dev == NULL) {
return -ENODEV;
}
if (gpio_pin_configure(ctx->de->dev, ctx->de->pin,
GPIO_OUTPUT_INACTIVE | ctx->de->flags)) {
if (gpio_pin_configure(cfg->de->dev, cfg->de->pin,
GPIO_OUTPUT_INACTIVE | cfg->de->flags)) {
return -EIO;
}
}
if (ctx->re != NULL) {
ctx->re->dev = device_get_binding(ctx->re->name);
if (ctx->re->dev == NULL) {
if (cfg->re != NULL) {
cfg->re->dev = device_get_binding(cfg->re->name);
if (cfg->re->dev == NULL) {
return -ENODEV;
}
if (gpio_pin_configure(ctx->re->dev, ctx->re->pin,
GPIO_OUTPUT_INACTIVE | ctx->re->flags)) {
if (gpio_pin_configure(cfg->re->dev, cfg->re->pin,
GPIO_OUTPUT_INACTIVE | cfg->re->flags)) {
return -EIO;
}
}
@ -464,6 +482,7 @@ void modbus_serial_rx_enable(struct modbus_context *ctx)
int modbus_serial_rx_frame(struct modbus_context *ctx)
{
struct modbus_serial_config *cfg = ctx->cfg;
int rc = 0;
switch (ctx->mode) {
@ -482,8 +501,8 @@ int modbus_serial_rx_frame(struct modbus_context *ctx)
return -ENOTSUP;
}
ctx->uart_buf_ctr = 0;
ctx->uart_buf_ptr = &ctx->uart_buf[0];
cfg->uart_buf_ctr = 0;
cfg->uart_buf_ptr = &cfg->uart_buf[0];
return rc;
}
@ -511,14 +530,15 @@ int modbus_serial_init(struct modbus_context *ctx,
enum uart_config_parity parity,
const bool ascii_mode)
{
struct modbus_serial_config *cfg = ctx->cfg;
const uint32_t if_delay_max = 3500000;
const uint32_t numof_bits = 11;
struct uart_config uart_cfg;
ctx->dev = device_get_binding(ctx->dev_name);
if (ctx->dev == NULL) {
cfg->dev = device_get_binding(cfg->dev_name);
if (cfg->dev == NULL) {
LOG_ERR("Failed to get UART device %s",
log_strdup(ctx->dev_name));
log_strdup(cfg->dev_name));
return -ENODEV;
}
@ -546,28 +566,30 @@ int modbus_serial_init(struct modbus_context *ctx,
return -EINVAL;
}
if (uart_configure(ctx->dev, &uart_cfg) != 0) {
if (uart_configure(cfg->dev, &uart_cfg) != 0) {
LOG_ERR("Failed to configure UART");
return -EINVAL;
}
if (baudrate <= 38400) {
ctx->rtu_timeout = (numof_bits * if_delay_max) / baudrate;
cfg->rtu_timeout = (numof_bits * if_delay_max) / baudrate;
} else {
ctx->rtu_timeout = (numof_bits * if_delay_max) / 38400;
cfg->rtu_timeout = (numof_bits * if_delay_max) / 38400;
}
if (configure_gpio(ctx) != 0) {
return -EIO;
}
uart_irq_callback_user_data_set(ctx->dev, uart_cb_handler, ctx);
cfg->uart_buf_ctr = 0;
cfg->uart_buf_ptr = &cfg->uart_buf[0];
uart_irq_callback_user_data_set(cfg->dev, uart_cb_handler, ctx);
modbus_serial_rx_on(ctx);
ctx->mode = ascii_mode ? MODBUS_MODE_ASCII : MODBUS_MODE_RTU;
k_timer_init(&ctx->rtu_timer, rtu_tmr_handler, NULL);
k_timer_user_data_set(&ctx->rtu_timer, ctx);
LOG_INF("RTU timeout %u us", ctx->rtu_timeout);
k_timer_init(&cfg->rtu_timer, rtu_tmr_handler, NULL);
k_timer_user_data_set(&cfg->rtu_timer, ctx);
LOG_INF("RTU timeout %u us", cfg->rtu_timeout);
return 0;
}
@ -576,6 +598,5 @@ void modbus_serial_disable(struct modbus_context *ctx)
{
modbus_serial_tx_off(ctx);
modbus_serial_rx_off(ctx);
k_timer_stop(&ctx->rtu_timer);
k_timer_stop(&ctx->cfg->rtu_timer);
}