GC23005/Component/Modbus/modbus_master.c

#include "modbus_master.h"
#include "modbus_encoder.h"
#include "st_sys.h"
#include <string.h>



//周期通讯指令缓冲池
static modbus_master_period_cmd_t period_cmd_pool[MODBUS_MASTER_PERIOD_POOL_SIZE];
//单次命令缓冲池
static modbus_master_once_cmd_t once_cmd_pool[MODBUS_MASTER_ONCE_POOL_SIZE];
//周期命令池已用计数
static int period_cmd_count = 0;


void modbus_master_init(void)
{
    memset(period_cmd_pool, 0, MODBUS_MASTER_PERIOD_POOL_SIZE);
    memset(once_cmd_pool, 0, MODBUS_MASTER_PERIOD_POOL_SIZE);
}


/**
 * 创建一条周期任务
 * 
 * @author lxz (2019/8/25/周日)
 * 
 * @param group    modbus 运行组
 * @param id       id
 * @param cmd      命令
 * @param address  地址
 * @param number   长度
 * @param value 
 *                 要读写的数值，对于写指令，它是数值
 * @param respone_timeout 该指令的等待响应时间
 * @param period 
 *                        该指令的采集周期，协议会尽可能满足该周期
 * @param on_respone      命令响应时的回调函数
 * 
 * @return modbus_master_cmd_t 命令的指针
 */
modbus_master_period_cmd_t* modbus_master_add_period_cmd(
    modbus_master_t *master,
    unsigned char cmdcode,
    unsigned char id,
    unsigned char cmd,
    unsigned short address,
    unsigned short number,
    unsigned char *value,
    int respone_timeout,
    void (*on_respone)(modbus_master_cmd_t *, unsigned char *, int),
    int period
    )
{
    if (period_cmd_count < MODBUS_MASTER_PERIOD_POOL_SIZE)
    {
        modbus_master_period_cmd_t *next = 0;
        //获取一个没用过的包
        modbus_master_period_cmd_t *period_cmd = &period_cmd_pool[period_cmd_count];
        period_cmd_count++;
        //初始化命令
        period_cmd->cmd.cmdcode=cmdcode;
        period_cmd->cmd.id = id;
        period_cmd->cmd.cmd = cmd;
        period_cmd->cmd.address = address;
        period_cmd->cmd.number = number;
        period_cmd->cmd.value = value;
        period_cmd->cmd.respone_timeout = respone_timeout;
        period_cmd->cmd.on_respone = on_respone;
        period_cmd->cmd.dir = 0;
        period_cmd->period = period;
        period_cmd->next = 0;


        //将命令挂靠到主站对象到

        if (master->period_cmd_list == 0)
        {
            master->period_cmd_list = period_cmd;

        } else
        {
            next = master->period_cmd_list;
            while (next->next != 0)
            {
                next = (modbus_master_period_cmd_t *)next->next;
            }
            next->next = (void *)period_cmd;
        }
        return period_cmd;
    }
    return 0;
}
/**
 * 创建一条单次命令
 * 
 * @author lxz (2019/8/25/周日)
 * 
 * @param group    modbus 运行组
 * @param id       id
 * @param cmd      命令
 * @param address  地址
 * @param number   长度
 * @param value 
 *                 要读写的数值，对于写指令，它是数值
 * @param respone_timeout 该指令的等待响应时间
 * @param period 
 *                        该指令的采集周期，协议会尽可能满足该周期
 * @param on_respone      命令响应时的回调函数 
 * @param dir   方向，0表示读，1表示写 
 * 
 * @return modbus_master_cmd_t 命令的指针
 */
modbus_master_once_cmd_t* modbus_master_add_once_cmd(
    modbus_master_t *master,
    unsigned char cmdcode,
    unsigned char id,
    unsigned char cmd,
    unsigned short address,
    unsigned short number,
    unsigned char *value,
    int respone_timeout,    
    void (*on_respone)(modbus_master_cmd_t *, unsigned char *, int)
    )
{
    int index = 0;
    while (index < MODBUS_MASTER_ONCE_POOL_SIZE)
    {
        if (once_cmd_pool[index].token == 0)
        {
            break;
        }
        index++;
    }
    if (index < MODBUS_MASTER_ONCE_POOL_SIZE)
    {
        modbus_master_once_cmd_t *next = 0;
        //获取一个没用过的包
        once_cmd_pool[index].token=1;
        modbus_master_once_cmd_t *once_cmd = &once_cmd_pool[index];
        index++;//period_cmd_count++;(修改2024-0703)
        //初始化命令
        once_cmd->cmd.cmdcode=cmdcode;
        once_cmd->cmd.id = id;
        once_cmd->cmd.cmd = cmd;
        once_cmd->cmd.address = address;
        once_cmd->cmd.number = number;
        once_cmd->cmd.value = value;
        once_cmd->cmd.respone_timeout = respone_timeout;
        once_cmd->cmd.on_respone = on_respone;
 
        once_cmd->next = 0;

        //将命令挂靠到主站对象到
        if (master->once_cmd_list == 0)
        {
            master->once_cmd_list = once_cmd;
        } else
        {
            next = master->once_cmd_list;
            while (next->next != 0)
            {
                next = (modbus_master_once_cmd_t *)next->next;
            }
            next->next = (void *)once_cmd;
        }
        return once_cmd;
    }
    return 0;
}

/**
 * 获取一条指令，
 * 
 * @author lxz (2019/8/25/周日)
 * 
 * @param master modbus master对象，里面有命令缓冲
 * 
 * @return int 
 *         返回1表示有需要处理的立即指令，返回2表示有需要处理的周期指令
 */
static int modbus_master_get_cmd(modbus_master_t *master)
{

    //优先读取单次指令发送
    if (master->once_cmd_list != 0)
    {
        //复制命令
        master->current_cmd = master->once_cmd_list->cmd;
        //命令归还缓冲
        master->once_cmd_list->token = 0;
        //保存下一条命令
        //if (master->once_cmd_list->next != 0)
        {
            master->once_cmd_list = (modbus_master_once_cmd_t *)master->once_cmd_list->next;
        }

        return 1;
    }
    //选取周期指令
    else if (master->period_cmd_list != 0)
    {
        modbus_master_period_cmd_t *next = master->period_cmd_list;
        modbus_master_period_cmd_t *pre = master->period_cmd_list;
        while (next != 0)
        {
            //周期时间到
            if (sw_timer_expire(&next->timer))
            {
                //周期时间到了， 需要进行处理
                master->current_cmd = next->cmd;
                //将该命令时间重置，并放入尾部，从而保证每个命令有平等进行通讯的机会
                sw_timer_start(&next->timer, 0, next->period * 1000);
                //如果是第一个命令
                if (next == master->period_cmd_list)
                {
                    //当不止一个命令的时候
                    if (next->next != 0)
                    {
                        //对象保存的是下一个指令
                        master->period_cmd_list = (modbus_master_period_cmd_t *)next->next;

                        //查找最后一个指令，并将它置于链表尾部
                        pre = next;

                        while (next->next != 0)
                        {
                            next = next->next;
                        }

                        if (next != pre)
                        {
                            next->next = pre;
                        }
                        pre->next = 0;

                    }

                } else
                {
                    //如果不是最后一个指令
                    if (next->next != 0)
                    {
                        //对象保存的是下一个指令
                        pre->next = (modbus_master_period_cmd_t *)next->next;

                        //查找最后一个指令，并将它置于链表尾部
                        pre = next;

                        while (next->next != 0)
                        {
                            next = (modbus_master_period_cmd_t *)next->next;
                        }

                        if (next != pre)
                        {
                            next->next = pre;
                        }
                        pre->next = 0;
                    }
                }
                return 2;
            }

                //因为是单向列表，必须知道自己上一个指令对象;
                pre = next;
                next = (modbus_master_period_cmd_t *)next->next;
        }
    }
    return 0;
}

/**
 * 创建命令
 * 
 * @author lxz (2019/8/25/周日)
 * 
 * @param master 
 * @param request 
 * 
 * @return int 
 */
static int modbus_master_create_request(modbus_master_t *master, unsigned char *request)
{
    int length = 0;
    int request_length = 0;
    int number = 0;
    modbus_master_cmd_t *cmd = &master->current_cmd;
    //写指令
    master->send_count++;
    switch (cmd->cmd)
    {
    case 0x01:
    case 0x02:
    case 0x03:
    case 0x04:
        //读指令进行统一，不负责特殊指令
        request[length++] = cmd->id;
        request[length++] = cmd->cmd;
        request[length++] = (unsigned char)(cmd->address >> 8);
        request[length++] = (unsigned char)(cmd->address);
        request[length++] = (unsigned char)(cmd->number >> 8);
        request[length++] = (unsigned char)(cmd->number);
        if (cmd->cmd == 0x02 || cmd->cmd == 0x01)
        {
            request_length = 3 + (cmd->number + 7) >> 3;
        }
        else
        {
            request_length = 3 + cmd->number * 2;
        }
        break;
    case 0x05:
        if (cmd->number == 1)
        {
            //写单个线圈
            request[length++] = cmd->id;
            request[length++] = 0x05;
            request[length++] = (unsigned char)(cmd->address >> 8);
            request[length++] = (unsigned char)(cmd->address);
            if (cmd->value[0])
            {
                request[length++] = 0xff;
                request[length++] = 0;
            } else
            {
                request[length++] = 0;
                request[length++] = 0;
            }
        } else
        {
            //写多个线圈
            request[length++] = cmd->id;
            request[length++] = 0x0F;
            cmd->cmd=0x0F;//命令已经改变 20240513 laz
            request[length++] = (unsigned char)(cmd->address >> 8);
            request[length++] = (unsigned char)(cmd->address);
            request[length++] = (unsigned char)(cmd->number >> 8);
            request[length++] = (unsigned char)(cmd->number);
            request[length++] = (unsigned char)((cmd->number + 7) >> 3);
            memcpy(&request[length], cmd->value, request[length - 1]);
            length += request[length - 1];
        }
        request_length = 6;
        break;
    case 0x0F:
        //写多个线圈
        request[length++] = cmd->id;
        request[length++] = 0x0F;
        request[length++] = (unsigned char)(cmd->address >> 8);
        request[length++] = (unsigned char)(cmd->address);
        request[length++] = (unsigned char)(cmd->number >> 8);
        request[length++] = (unsigned char)(cmd->number);
        request[length++] = (unsigned char)((cmd->number + 7) >> 1);
        memcpy(&request[length], cmd->value, request[length - 1]);
        length += request[length - 1];
        request_length = 6;
        break;
    case 0x06:
        if (cmd->number == 1)
        {
            //写单个数值
            request[length++] = cmd->id;
            request[length++] = 0x06;
            request[length++] = (unsigned char)(cmd->address >> 8);
            request[length++] = (unsigned char)(cmd->address);
            request[length++] = (unsigned char)(cmd->value[1]);
            request[length++] = (unsigned char)(cmd->value[0]);
        } else
        {
            //写多个数值
            request[length++] = cmd->id;
            request[length++] = 0x10;
            cmd->cmd=0x10;//命令已经改变 20240513 laz
            request[length++] = (unsigned char)(cmd->address >> 8);
            request[length++] = (unsigned char)(cmd->address);
            request[length++] = (unsigned char)(cmd->number >> 8);
            request[length++] = (unsigned char)(cmd->number);
            request[length++] = (unsigned char)(cmd->number * 2);
            while (number < cmd->number)
            {
                request[length++] = cmd->value[number * 2 + 1];
                request[length++] = cmd->value[number * 2];
                number++;
            }
        }
        request_length = 6;
        break;
    case 0x10:
        //写多个数值
        request[length++] = cmd->id;
        request[length++] = 0x10;
        request[length++] = (unsigned char)(cmd->address >> 8);
        request[length++] = (unsigned char)(cmd->address);
        request[length++] = (unsigned char)(cmd->number >> 8);
        request[length++] = (unsigned char)(cmd->number);
        request[length++] = (unsigned char)(cmd->number * 2);
        while (number < cmd->number)
        {
            request[length++] = cmd->value[number * 2 + 1];
            request[length++] = cmd->value[number * 2];
            number++;
        }
        request_length = 6;
        break;
    default:
        //默认特殊指令，会忽略地址，将number当做value里面的指令长度
        request[length++] = cmd->id;
        request[length++] = cmd->cmd;
        memcpy(&request[length], cmd->value, cmd->number);
        length += cmd->number;
        request_length = 6;
        break;
    }

    //具有有效命令的时候，进行编码并返回编码后的命令长度
    if (length > 0)
    {
        modbus_encoder_t *encoder = modbus_encoder_get(master->encoder_type);
        length = encoder->encode(request, request, length);
        //计算命令需要等待的时候，单位是us
        request_length = encoder->length_calc(1,request_length);
        master->wait_respone_time = request_length * master->one_byte_time + cmd->respone_timeout * 1000;
        return length;
    }
    return 0;
}

/**
 * 处理接收命令
 * 
 * @author lxz (2019/8/26/周一)
 * 
 * @param master 
 * @param respone 
 * @param length 
 */
static char modbus_master_deal_respone(modbus_master_t *master, unsigned char *respone, int length)
{
    modbus_master_cmd_t *cmd = &master->current_cmd;
    int number = 0; 

    if (respone[0] != cmd->id)
    {
        //ID不正确
        return 1;
    } else if (respone[1] & 0x80)
    {
        //命令报错
      
        //如果设置了回调函数，调用回调函数
        if (cmd->on_respone != 0)
        {
            cmd->on_respone(&master->current_cmd, respone, length);
        }
        if ((respone[1] & 0x7F) == cmd->cmd)
        {
          return 0;
        }
        else
        {
          return 2;
        }
    } else if (respone[1] != cmd->cmd)
    {
        //错误命令
        return 3;
    }
    master->receive_count++;
    //只对通用的几个读值指令进行处理
    switch (cmd->cmd)
    {
    case 0x01:
    case 0x02:
        memcpy(&cmd->value[number], &respone[3], respone[2]);
        break;
    case 0x03:
    case 0x04:
        while (number + 1 < respone[2])
        {
            cmd->value[number] = respone[3 + number + 1];
            cmd->value[number + 1] = respone[3 + number];
            number += 2;
        }
        break;
    }
    //如果设置了回调函数，回调函数
    if (cmd->on_respone != 0)
    {
        cmd->on_respone(&master->current_cmd, respone, length);
    }

    return 0;
}

/**
 * 主站运行函数
 * 
 * @author lxz (2019/8/25/周日)
 * 
 * @param request 请求缓冲
 * @param respone 响应的数据缓冲
 * @param length  响应数据长度
 * 
 * @return int 
 *         生成的请求命令长度，当大于0时，说明request里面有需要进行发送的命令
 */
int modbus_master_run(modbus_master_t *master, unsigned char *request, unsigned char *respone, int length)
{

    switch (master->step)
    {
    case 0:
        //获取一条指令，优先指令
        if (modbus_master_get_cmd(master))
        {
            master->step++;
            master->current_try_time = master->retry + 1;
        }
        break;
    case 1:
        //可以重次几次
        if (master->current_try_time)
        {
            master->current_try_time--;
            master->step++;
            return modbus_master_create_request(master, request);
        } else
        {
            master->step = 0;
        }
        break;
    case 2:
        //等待响应时间
        master->step++;
        sw_timer_start(&master->timer, 0, master->wait_respone_time);
        break;
    case 3:
        if (length > 0)
        {
            //执行校验，如果校验失败，那就重试，校验成功，处理完等待间隔
            modbus_encoder_t *encoder = modbus_encoder_get(master->encoder_type);
            length = encoder->decode(respone, respone, length);
            if (length > 0)
            {
                //处理协议，如果返回一些错误，需要重试
                if (modbus_master_deal_respone(master,respone,length))
                {
                    master->step++;
                }
            }
            sw_timer_start(&master->timer, 0, master->interval);
            master->step++;
        } else if (sw_timer_expire(&master->timer))
        {
            //超时没收到命令，重发
            master->step = 1;
        }
        break;
    case 4:
        //上次通讯完成，准备下一条指令
        if (sw_timer_expire(&master->timer))
        {
            master->step = 0;
        }
        break;
    case 5:
        //上次通讯是错误帧，需要重试
        if (sw_timer_expire(&master->timer))
        {
            master->step = 1;
        }
        break;
    }
    return 0;
}