本文章介紹如何使用 nanoMODBUS 函式庫在 Raspberry Pi Pico W上實作 MODBUS TCP/RTU Gateway。使用 MODBUS TCP Master透過 Node-RED UI 控制兩個 Modbus RTU Slaves。
架構如下圖所示：
MODBUS TCP/RTU Gateway收到modbus tcp master(client) request 根據UintID轉送到相對應的MODUBS RTU Slave(msater)，Response依相反順序進行。
對應的code如下：
成果展示：
程式碼：
- CMakeLists.txt
# Generated Cmake Pico project file
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
set(USERHOME $ENV{USERPROFILE})
else()
set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.1.0)
set(toolchainVersion 13_3_Rel1)
set(picotoolVersion 2.1.0)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
include(${picoVscode})
endif()
# ====================================================================================
set(PICO_BOARD pico_w CACHE STRING "Board type")
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
project(picow_modbus_gateway C CXX ASM)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
# Add executable. Default name is the project name, version 0.1
add_executable(picow_modbus_gateway picow_modbus_gateway.c
nanomodbus/nanomodbus.c
picow_tcp_server/picow_tcp_server.c
modbus_rtu_master/modbus_rtu_master.c
modbus_tcp_client/modbus_tcp_client.c)
pico_set_program_name(picow_modbus_gateway "picow_modbus_gateway")
pico_set_program_version(picow_modbus_gateway "0.1")
# Modify the below lines to enable/disable output over UART/USB
pico_enable_stdio_uart(picow_modbus_gateway 0)
pico_enable_stdio_usb(picow_modbus_gateway 1)
# Add the standard library to the build
target_link_libraries(picow_modbus_gateway
pico_stdlib)
# Add the standard include files to the build
target_include_directories(picow_modbus_gateway PRIVATE
${CMAKE_CURRENT_LIST_DIR}
)
# Add any user requested libraries
target_link_libraries(picow_modbus_gateway
pico_cyw43_arch_lwip_threadsafe_background
pico_lwip_mdns
)
pico_add_extra_outputs(picow_modbus_gateway)
- picow_modbus_gateway.c
#include <stdio.h>
#include "pico/stdlib.h"
#include "pico/cyw43_arch.h"
#include "lwip/apps/mdns.h"
#include "picow_tcp_server/picow_tcp_server.h"
#include "nanomodbus/nanomodbus.h"
#include "lwip/pbuf.h"
#include "lwip/tcp.h"
#include "modbus_tcp_client/modbus_tcp_client.h"
#include "modbus_rtu_master/modbus_rtu_master.h"
/*
MODBUS GATEWAY
modbus tcp client <--> modbus tcp server
^
|
v
modbus rtu client <--> modbus rtu server
*/
int main()
{
stdio_init_all();
uart_setup(UART_ID);
//========== modbus rtu master(client) init ==========
// nmbs_uart_read() and nmbs_uart_write() are implemented by the user
nmbs_platform_conf rtu_platform_conf;
nmbs_platform_conf_create(&rtu_platform_conf);
rtu_platform_conf.transport = NMBS_TRANSPORT_RTU;
rtu_platform_conf.read = nmbs_uart_read;
rtu_platform_conf.write = nmbs_uart_write;
nmbs_error err = nmbs_client_create(&nmbs_rtu_master, &rtu_platform_conf);
if (err != NMBS_ERROR_NONE) {
fprintf(stderr, "Error creating modbus client\n");
return 1;
}
// RTU: set read timeout and byte timeout
nmbs_set_read_timeout(&nmbs_rtu_master, 2000);
nmbs_set_byte_timeout(&nmbs_rtu_master, 2000);
// ============ modbus rtu master(client) init =============
// ====== Initialise the Wi-Fi chip =====
if (cyw43_arch_init()) {
printf("Wi-Fi init failed\n");
return -1;
}
cyw43_gpio_set(&cyw43_state, CYW43_WL_GPIO_LED_PIN,false);
// Enable wifi station
cyw43_arch_enable_sta_mode();
printf("Connecting to Wi-Fi...\n");
if (cyw43_arch_wifi_connect_timeout_ms(SSID, PWD, CYW43_AUTH_WPA2_AES_PSK, 30000)) {
printf("failed to connect.\n");
return 1;
} else {
printf("Connected.\n");
// Read the ip address in a human readable way
uint8_t *ip_address = (uint8_t*)&(cyw43_state.netif[0].ip_addr.addr);
printf("IP address %d.%d.%d.%d\n", ip_address[0], ip_address[1], ip_address[2], ip_address[3]);
}
#if LWIP_MDNS_RESPONDER
mdns_resp_init();
uint8_t host_name[] = "picow_mb_gateway";
if (mdns_resp_add_netif(netif_default, host_name)== ERR_OK)
{
printf("mDNS add successfully\n");
} else {
printf("mDNS failure\n");
}
#endif
picow_tcp_server_init();
//======= modbus tcp server(modbus server) init ======
nmbs_platform_conf platform_conf;
nmbs_platform_conf_create(&platform_conf);
platform_conf.transport = NMBS_TRANSPORT_TCP;
platform_conf.read = nmbs_transport_read;
platform_conf.write = nmbs_transport_write;
extern MB_SERVER_T *modbus_tcp_server;
platform_conf.arg = modbus_tcp_server;
nmbs_callbacks callbacks;
nmbs_callbacks_create(&callbacks);
callbacks.read_coils = handle_tcp_read_coils;
callbacks.read_discrete_inputs = handle_tcp_read_discrete_inputs;
callbacks.write_single_coil = handle_tcp_write_single_coil;
callbacks.write_multiple_coils = handle_tcp_write_multiple_coils;
callbacks.read_holding_registers = handler_tcp_read_holding_registers;
callbacks.write_multiple_registers = handle_tcp_write_multiple_registers;
callbacks.write_single_register = handle_tcp_write_single_register;
callbacks.read_file_record = handle_tcp_read_file_record;
callbacks.write_file_record = handle_tcp_write_file_record;
callbacks.arg = modbus_tcp_server;
err = nmbs_server_create(&nmbs_gateway_tcp, 0, &platform_conf, &callbacks);
if (err != NMBS_ERROR_NONE) {
fprintf(stderr, "Error creating modbus server\n");
return 1;
}
// Set only the polling timeout. Byte timeout will be handled by the TCP connection
nmbs_set_read_timeout(&nmbs_gateway_tcp, 2000);
//======= modbus tcp server(modbus server) init ======
printf("Modbus TCP server started\n");
cyw43_gpio_set(&cyw43_state, CYW43_WL_GPIO_LED_PIN,true);
//========================
while (true) {
nmbs_server_poll(&nmbs_gateway_tcp);
#if PICO_CYW43_ARCH_POLL
cyw43_arch_poll();
cyw43_arch_wait_for_work_until(make_timeout_time_ms(1000));
#else
tight_loop_contents();
#endif
}
}
picow_tcp_server:
- picow_tcp_server.c
#include <stdio.h>
#include "pico/stdlib.h"
#include "pico/cyw43_arch.h"
#include "nanomodbus/nanomodbus.h"
#include "lwip/pbuf.h"
#include "lwip/tcp.h"
#include "picow_tcp_server.h"
#include "modbus_tcp_client/modbus_tcp_client.h"
MB_SERVER_T *modbus_tcp_server;
static err_t tcp_client_close(struct tcp_pcb *client_pcb) {
err_t err = ERR_OK;
if (client_pcb != NULL) {
tcp_arg(client_pcb, NULL);
tcp_poll(client_pcb, NULL, 0);
tcp_sent(client_pcb, NULL);
tcp_recv(client_pcb, NULL);
tcp_err(client_pcb, NULL);
err = tcp_close(client_pcb);
if (err != ERR_OK) {
DEBUG_printf("close failed %d, calling abort\n", err);
tcp_abort(client_pcb);
err = ERR_ABRT;
}
client_pcb = NULL;
}
return err;
}
static err_t tcp_server_close(void *arg) {
MB_SERVER_T *state = (MB_SERVER_T*)arg;
err_t err = ERR_OK;
if (state->client_pcb != NULL) {
tcp_arg(state->client_pcb, NULL);
tcp_poll(state->client_pcb, NULL, 0);
tcp_sent(state->client_pcb, NULL);
tcp_recv(state->client_pcb, NULL);
tcp_err(state->client_pcb, NULL);
err = tcp_close(state->client_pcb);
if (err != ERR_OK) {
DEBUG_printf("close failed %d, calling abort\n", err);
tcp_abort(state->client_pcb);
err = ERR_ABRT;
}
state->client_pcb = NULL;
}
if (state->server_pcb) {
tcp_arg(state->server_pcb, NULL);
tcp_close(state->server_pcb);
state->server_pcb = NULL;
}
return err;
}
static err_t tcp_server_sent(void *arg, struct tcp_pcb *tpcb, u16_t len) {
MB_SERVER_T *state = (MB_SERVER_T*)arg;
return ERR_OK;
}
err_t tcp_server_send_data(void *arg, struct tcp_pcb *tpcb)
{
MB_SERVER_T *state = (MB_SERVER_T*)arg;
return ERR_OK;
}
err_t tcp_server_recv(void *arg, struct tcp_pcb *tpcb, struct pbuf *p, err_t err) {
MB_SERVER_T *state = (MB_SERVER_T*)arg;
state->client_pcb = tpcb;
static modbus_queue_t temp_recv;
if (!p) {
tcp_client_close(tpcb);
tcp_abort(tpcb);
return ERR_ABRT;
}
if (p->tot_len > 0) {
//DEBUG_printf("tcp_client_recv %d err %d\n", p->tot_len, err);
// Receive the buffer
uint16_t recv_len = pbuf_copy_partial(p, temp_recv.buffer, p->tot_len, 0);
temp_recv.buffer_len = recv_len;
//queue_add_blocking(&state->recv_queue, &temp_recv);
if (!queue_try_add(&state->recv_queue, &temp_recv)) {
printf("\n=======\n\nbusy\n-------\n");
return ERR_INPROGRESS;
}
tcp_recved(tpcb, recv_len);
//Debug
printf("---------recv---------\n");
for (int i =0; i < recv_len; i++) {
printf("%02x ",temp_recv.buffer[i]);
}
printf("\n-------------\n");
}
pbuf_free(p);
nmbs_server_poll(&nmbs_gateway_tcp); // process modbus request
return ERR_OK;
}
static err_t tcp_server_poll(void *arg, struct tcp_pcb *tpcb) {
//nmbs_error err = nmbs_server_poll(&nmbs); // process modbus request while tpc idle
//if (err != NMBS_ERROR_NONE) {
// printf("Error on modbus connection - %s\n", nmbs_strerror(err));
// In a more complete example, we would handle this error by checking its nmbs_error value
//}
return ERR_OK;
}
static void tcp_server_err(void *arg, err_t err) {
if (err != ERR_ABRT) {
DEBUG_printf("tcp_client_err_fn %d\n", err);
}
}
static err_t tcp_server_accept(void *arg, struct tcp_pcb *client_pcb, err_t err) {
MB_SERVER_T *state = (MB_SERVER_T*)arg;
if (err != ERR_OK || client_pcb == NULL) {
DEBUG_printf("Failure in accept\n");
return err;
}
DEBUG_printf("Client connected\n");
state->client_pcb = client_pcb;
tcp_arg(state->client_pcb, state);
tcp_sent(state->client_pcb, tcp_server_sent);
tcp_recv(state->client_pcb, tcp_server_recv);
tcp_poll(state->client_pcb, tcp_server_poll, POLL_TIME_S * 2);
tcp_err(state->client_pcb, tcp_server_err);
return ERR_OK;
}
static bool tcp_server_open(void *arg) {
MB_SERVER_T *state = (MB_SERVER_T*)arg;
DEBUG_printf("Starting server at %s on port %u\n", ip4addr_ntoa(netif_ip4_addr(netif_list)), MODBUS_TCP_PORT);
struct tcp_pcb *pcb = tcp_new_ip_type(IPADDR_TYPE_ANY);
if (!pcb) {
DEBUG_printf("failed to create pcb\n");
return false;
}
err_t err = tcp_bind(pcb, NULL, MODBUS_TCP_PORT);
//err_t err = tcp_bind(pcb, netif_ip4_addr(netif_list), MODBUS_TCP_PORT);
if (err) {
DEBUG_printf("failed to bind to port %u\n", MODBUS_TCP_PORT);
return false;
}
state->server_pcb = tcp_listen_with_backlog(pcb, 1);
if (!state->server_pcb) {
DEBUG_printf("failed to listen\n");
if (pcb) {
tcp_close(pcb);
}
return false;
}
tcp_arg(state->server_pcb, state);
tcp_accept(state->server_pcb, tcp_server_accept);
return true;
}
void picow_tcp_server_init(void) {
/* modbus TCP server init*/
modbus_tcp_server = calloc(1, sizeof(MB_SERVER_T));
if (!modbus_tcp_server) {
return;
}
queue_init(&modbus_tcp_server->recv_queue, sizeof(modbus_queue_t), 4);
if (!tcp_server_open(modbus_tcp_server)) {
DEBUG_printf("tcp server open error\n");
return;
}
return;
}
- picow_tcp_server.h
#define MODBUS_TCP_PORT 502 //MODBUS default port
#define DEBUG_printf printf
#define POLL_TIME_S 1
#define SSID "your-SSID"
#define PWD "your-PASSWORD"
#include "pico/util/queue.h"
typedef struct __modbus_queue_t{
uint8_t buffer[260];
uint16_t buffer_len;
} modbus_queue_t;
typedef struct TCP_CLIENT_T_ {
struct tcp_pcb *server_pcb;
struct tcp_pcb *client_pcb;
bool connected;
bool dns_found;
queue_t recv_queue;
uint8_t server_host_name[256];
uint16_t recv_count;
uint16_t start_index;
uint16_t queue_left;
modbus_queue_t temp_recv;
} MB_SERVER_T;
void picow_tcp_server_init(void);
modbus_tcp_client:
- modbus_tcp_client.c
#include "stdio.h"
#include "pico/stdlib.h"
#include "modbus_tcp_client.h"
#include "lwip/pbuf.h"
#include "lwip/tcp.h"
#include "picow_tcp_server/picow_tcp_server.h"
#include "modbus_rtu_master/modbus_rtu_master.h"
//#define _DEBUG
#ifdef _DEBUG
#define DEBUG_PRINT(...) printf(__VA_ARGS__)
#else
#define DEBUG_PRINT(...) (void) (0)
#endif
nmbs_t nmbs_gateway_tcp;
// A single nmbs_bitfield variable can keep 2000 coils
bool terminate = false;
nmbs_bitfield server_coils[MAX_CLIENT_DEVICES] = {0};
uint16_t server_registers[MAX_CLIENT_DEVICES][REGS_ADDR_MAX] = {0};
uint16_t server_file[MAX_CLIENT_DEVICES][FILE_SIZE_MAX];
#define UNUSED_PARAM(x) ((x) = (x))
void sighandler(int s) {
UNUSED_PARAM(s);
terminate = true;
}
nmbs_error handle_tcp_read_coils(uint16_t address, uint16_t quantity, nmbs_bitfield coils_out, uint8_t unit_id, void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
MB_SERVER_T * mb = (MB_SERVER_T*) arg;
if (address + quantity > COILS_ADDR_MAX + 1)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_read_coils(&nmbs_rtu_master, address, quantity, coils_out);
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info(read coils): unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
return err;
}
for (int i = 0; i < quantity; i++) {
nmbs_bitfield_write(server_coils[unit_id], address + i, nmbs_bitfield_read(coils_out, i));
}
return NMBS_ERROR_NONE;
}
nmbs_error handle_tcp_read_discrete_inputs(uint16_t address, uint16_t quantity, nmbs_bitfield coils_out, uint8_t unit_id, void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
if (address + quantity > COILS_ADDR_MAX + 1)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_read_discrete_inputs(&nmbs_rtu_master, address, quantity, coils_out);
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info(read discrete coils): unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
return err;
}
for (int i = 0; i < quantity; i++) {
nmbs_bitfield_write(server_coils[unit_id], address + i, nmbs_bitfield_read(coils_out, i));
}
return NMBS_ERROR_NONE;
}
nmbs_error handle_tcp_write_single_coil(uint16_t address, bool value, uint8_t unit_id, void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
if (address > COILS_ADDR_MAX )
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_write_single_coil(&nmbs_rtu_master, address, value);
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info(write single coil): unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
return err;
}
// Write coils values to our server_coils
nmbs_bitfield_write(server_coils[unit_id], address, value);
return NMBS_ERROR_NONE;
}
nmbs_error handle_tcp_write_multiple_coils(uint16_t address, uint16_t quantity, const nmbs_bitfield coils, uint8_t unit_id,
void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
if (address + quantity > COILS_ADDR_MAX + 1)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_write_multiple_coils(&nmbs_rtu_master, address, quantity, coils);
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info(write mulitple coils): unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
uart_reset(UART_ID);
return err;
}
// Write coils values to our server_coils
for (int i = 0; i < quantity; i++) {
nmbs_bitfield_write(server_coils[unit_id], address + i, nmbs_bitfield_read(coils, i));
}
return NMBS_ERROR_NONE;
}
nmbs_error handler_tcp_read_holding_registers(uint16_t address, uint16_t quantity, uint16_t* registers_out, uint8_t unit_id,
void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
if (address + quantity > REGS_ADDR_MAX + 1)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_read_holding_registers(&nmbs_rtu_master, address, quantity, registers_out);
// Read our registers values into registers_out
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info(read holding regiseters): unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
return err;
}
for (int i = 0; i < quantity; i++)
server_registers[unit_id][address + i] = registers_out[i];
return NMBS_ERROR_NONE;
}
nmbs_error handle_tcp_write_single_register(uint16_t address, uint16_t value, uint8_t unit_id, void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
if (address > REGS_ADDR_MAX)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_write_single_register(&nmbs_rtu_master, address, value);
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info(write single register): unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
return err;
}
// Write registers values to our server_registers
server_registers[unit_id][address] = value;
return NMBS_ERROR_NONE;
}
nmbs_error handle_tcp_write_multiple_registers(uint16_t address, uint16_t quantity, const uint16_t* registers,
uint8_t unit_id, void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
if (address + quantity > REGS_ADDR_MAX + 1)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_write_multiple_registers(&nmbs_rtu_master, address, quantity, registers);
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info(write multiple registers): unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
return err;
}
// Write registers values to our server_registers
for (int i = 0; i < quantity; i++)
server_registers[unit_id][address + i] = registers[i];
return NMBS_ERROR_NONE;
}
nmbs_error handle_tcp_read_file_record(uint16_t file_number, uint16_t record_number, uint16_t* registers, uint16_t count,
uint8_t unit_id, void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
if (file_number != 1)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
if ((record_number + count) > FILE_SIZE_MAX)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_read_file_record(&nmbs_rtu_master, file_number, record_number, registers, count);
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info: unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
return err;
}
memcpy(registers, server_file[unit_id] + record_number, count * sizeof(uint16_t));
return NMBS_ERROR_NONE;
}
nmbs_error handle_tcp_write_file_record(uint16_t file_number, uint16_t record_number, const uint16_t* registers,
uint16_t count, uint8_t unit_id, void* arg) {
UNUSED_PARAM(arg);
UNUSED_PARAM(unit_id);
if (file_number != 1)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
if ((record_number + count) > FILE_SIZE_MAX)
return NMBS_EXCEPTION_ILLEGAL_DATA_ADDRESS;
nmbs_set_destination_rtu_address(&nmbs_rtu_master, unit_id);
nmbs_error err = nmbs_write_file_record(&nmbs_rtu_master, file_number, record_number, registers, count);
if (err != NMBS_ERROR_NONE) {
DEBUG_printf("Error info: unit_id:%d, %s\n", unit_id,
nmbs_strerror(err));
return err;
}
memcpy(server_file[unit_id] + record_number, registers, count * sizeof(uint16_t));
return NMBS_ERROR_NONE;
}
int32_t nmbs_transport_read(uint8_t* buf, uint16_t count, int32_t timeout_ms, void* arg) {
MB_SERVER_T *state=(MB_SERVER_T*) arg;
uint16_t loop_count = 0;
if (state->queue_left == 0) {
while (queue_is_empty(&state->recv_queue) && loop_count < 20) {
loop_count++;
busy_wait_ms(50);
}
if (!queue_try_remove(&(state->recv_queue), &state->temp_recv)) {
return 0;
} else {
DEBUG_PRINT("\t\t\t\t---loop count:%d\n", loop_count);
}
state->queue_left = state->temp_recv.buffer_len;
}
state->recv_count = state->queue_left <= count ? state->queue_left : count;
state->start_index = state->temp_recv.buffer_len-state->queue_left;
for (int i=0; i < state->recv_count; i++) buf[i] = state->temp_recv.buffer[state->start_index+i];
state->queue_left = state->queue_left-state->recv_count;
//Debug
#ifdef _DEBUG
DEBUG_PRINT("\n=====transport read:%d:%d\n", count, state->temp_recv.buffer_len);
for (int i=0; i < state->recv_count; i++) {
DEBUG_PRINT("%02x ", buf[i]);
}
DEBUG_PRINT("\n==\n");
#endif
return state->recv_count;
}
int32_t nmbs_transport_write(const uint8_t* buf, uint16_t count, int32_t timeout_ms, void* arg) {
MB_SERVER_T *state = (MB_SERVER_T*)arg;
// Debug
#ifdef _DEBUG
DEBUG_PRINT("====\nnmbs_transport_write count:%d\n", count);
for (int i=0; i < count;i++) {
DEBUG_PRINT("%02x ", buf[i]);
}
DEBUG_PRINT("\n====\n");
#endif
err_t err = tcp_write(state->client_pcb, buf, count, 0 /*TCP_WRITE_FLAG_COPY*/);
if (err != ERR_OK)
{
//tcp_abort(state->tcp_pcb);
DEBUG_PRINT("tcp_write error:%d:%d\n", err, tcp_sndbuf(state->client_pcb));
return 0;
}
err = tcp_output(state->client_pcb);
if (err != ERR_OK)
{
DEBUG_PRINT("%s:tcp_output:%d\n", state->server_host_name, err);
return 0;
}
return count;
}
- modbus_tcp_client.h
#ifndef __MODBUS_GATEWAY_TCP_CLIENT__
#define __MODBUS_GATEWAY_TCP_CLIENT__
#include "nanomodbus/nanomodbus.h"
extern nmbs_t nmbs_gateway_tcp;
nmbs_error handle_tcp_read_coils(uint16_t address, uint16_t quantity, nmbs_bitfield coils_out, uint8_t unit_id, void* arg);
nmbs_error handle_tcp_read_discrete_inputs(uint16_t address, uint16_t quantity, nmbs_bitfield coils_out, uint8_t unit_id, void* arg);
nmbs_error handle_tcp_write_single_coil(uint16_t address, bool value, uint8_t unit_id, void* arg);
nmbs_error handle_tcp_write_multiple_coils(uint16_t address, uint16_t quantity, const nmbs_bitfield coils, uint8_t unit_id, void* arg);
nmbs_error handler_tcp_read_holding_registers(uint16_t address, uint16_t quantity, uint16_t* registers_out, uint8_t unit_id, void* arg);
nmbs_error handle_tcp_write_single_register(uint16_t address, uint16_t value, uint8_t unit_id, void* arg);
nmbs_error handle_tcp_write_multiple_registers(uint16_t address, uint16_t quantity, const uint16_t* registers,
uint8_t unit_id, void* arg);
nmbs_error handle_tcp_read_file_record(uint16_t file_number, uint16_t record_number, uint16_t* registers, uint16_t count,
uint8_t unit_id, void* arg);
nmbs_error handle_tcp_write_file_record(uint16_t file_number, uint16_t record_number, const uint16_t* registers,
uint16_t count, uint8_t unit_id, void* arg);
int32_t nmbs_transport_read(uint8_t* buf, uint16_t count, int32_t byte_timeout_ms, void* arg);
int32_t nmbs_transport_write(const uint8_t* buf, uint16_t count, int32_t byte_timeout_ms,void* arg);
#endif
modbus_rtu_master:
- modbus_rtu_master.c
#include "stdio.h"
#include "pico/stdlib.h"
#include "modbus_rtu_master.h"
nmbs_t nmbs_rtu_master;
int32_t nmbs_uart_read(uint8_t* buf, uint16_t count, int32_t byte_timeout_ms, void* arg){
uint64_t start_time = time_us_64();
int32_t bytes_read = 0;
uint64_t timeout_us = (uint64_t) byte_timeout_ms * 1000;
while (time_us_64() - start_time < timeout_us && bytes_read < count) {
if (uart_is_readable(UART_ID)) {
buf[bytes_read++] = uart_getc(UART_ID);
start_time = time_us_64(); // Reset start time after a successful read
}
}
return bytes_read;
}
int32_t nmbs_uart_write(const uint8_t* buf, uint16_t count, int32_t byte_timeout_ms, void* arg) {
uart_write_blocking(UART_ID, buf, count);
return count;
}
void uart_reset(uart_inst_t* uart) {
uart_deinit(uart);
uart_setup(uart);
}
void uart_setup(uart_inst_t* uart) {
// Set up our UART
uart_init(uart, BAUD_RATE);
gpio_set_function(UART_TX_PIN, GPIO_FUNC_UART);
gpio_set_function(UART_RX_PIN, GPIO_FUNC_UART);
int __unused actual = uart_set_baudrate(UART_ID, BAUD_RATE);
uart_set_hw_flow(UART_ID, false, false);
uart_set_format(UART_ID, DATA_BITS, STOP_BITS, PARITY);
uart_set_fifo_enabled(UART_ID, false);
}
- modbus_rtu_master.h
#ifndef __MODBUS_GATEWAY_RTU_MASTER__
#define __MODBUS_GATEWAY_RTU_MASTER__
#include "nanomodbus/nanomodbus.h"
// UART defines
#define UART_ID uart1
#define UART_TX_PIN 4
#define UART_RX_PIN 5
#define BAUD_RATE 115200
#define DATA_BITS 8
#define STOP_BITS 1
#define PARITY UART_PARITY_EVEN
// The data model of this sever will support coils addresses 0 to 100 and registers addresses from 0 to 32
#define COILS_ADDR_MAX 100
#define REGS_ADDR_MAX 32
#define FILE_SIZE_MAX 32
#define MAX_CLIENT_DEVICES 64
extern nmbs_t nmbs_rtu_master;
int32_t nmbs_uart_read(uint8_t* buf, uint16_t count, int32_t byte_timeout_ms, void* arg);
int32_t nmbs_uart_write(const uint8_t* buf, uint16_t count, int32_t byte_timeout_ms, void* arg);
void uart_reset(uart_inst_t* uart);
void uart_setup(uart_inst_t* uart);
#endif
nanoMODBUS:
原始library起參閱https://github.com/debevv/nanoMODBUS
在本文章專案中作以下修改部份程式碼：
Node-RED Modbus client:
- flow:
- flow code:
[
{
"id": "48fad0c0f57cea35",
"type": "tab",
"label": "Flow 1",
"disabled": false,
"info": "",
"env": []
},
{
"id": "67287decfe7536cf",
"type": "ui_colour_picker",
"z": "48fad0c0f57cea35",
"name": "",
"label": "Color of LED",
"group": "fc04be05304743a6",
"format": "rgb",
"outformat": "object",
"showSwatch": true,
"showPicker": false,
"showValue": false,
"showHue": true,
"showAlpha": false,
"showLightness": false,
"square": "true",
"dynOutput": "false",
"order": 2,
"width": 0,
"height": 0,
"passthru": false,
"topic": "color",
"topicType": "str",
"className": "",
"x": 510,
"y": 40,
"wires": [
[
"e50739a98c836bc2"
]
]
},
{
"id": "730e5141782e4353",
"type": "ui_slider",
"z": "48fad0c0f57cea35",
"name": "",
"label": "num 0f Leds",
"tooltip": "",
"group": "fc04be05304743a6",
"order": 3,
"width": 0,
"height": 0,
"passthru": false,
"outs": "all",
"topic": "leds",
"topicType": "str",
"min": 0,
"max": 10,
"step": 1,
"className": "",
"x": 530,
"y": 140,
"wires": [
[
"945a43328cae473b"
]
]
},
{
"id": "850f63e35b7c0dd6",
"type": "function",
"z": "48fad0c0f57cea35",
"name": "Modbus Uint 2",
"func": "var regs = [4];\nregs[0] = flow.get('color_red');\nregs[1] = flow.get('color_green');\nregs[2] = flow.get('color_blue');\nregs[3] = flow.get('num_leds');\nmsg.payload = {value: regs, 'fc': 16, 'unitid': 2, 'address': 0, 'quantity': 4 };\nreturn msg;\n",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 900,
"y": 80,
"wires": [
[
"0b897cabd78f207b"
]
]
},
{
"id": "e50739a98c836bc2",
"type": "change",
"z": "48fad0c0f57cea35",
"name": "set flow color",
"rules": [
{
"t": "set",
"p": "color_red",
"pt": "flow",
"to": "payload.r",
"tot": "msg"
},
{
"t": "set",
"p": "color_green",
"pt": "flow",
"to": "payload.g",
"tot": "msg"
},
{
"t": "set",
"p": "color_blue",
"pt": "flow",
"to": "payload.b",
"tot": "msg"
}
],
"action": "",
"property": "",
"from": "",
"to": "",
"reg": false,
"x": 710,
"y": 40,
"wires": [
[
"850f63e35b7c0dd6"
]
]
},
{
"id": "945a43328cae473b",
"type": "change",
"z": "48fad0c0f57cea35",
"name": "",
"rules": [
{
"t": "set",
"p": "num_leds",
"pt": "flow",
"to": "payload",
"tot": "msg"
}
],
"action": "",
"property": "",
"from": "",
"to": "",
"reg": false,
"x": 710,
"y": 140,
"wires": [
[
"850f63e35b7c0dd6"
]
]
},
{
"id": "0b897cabd78f207b",
"type": "modbus-flex-write",
"z": "48fad0c0f57cea35",
"name": "",
"showStatusActivities": false,
"showErrors": false,
"showWarnings": true,
"server": "54922a4357ba259d",
"emptyMsgOnFail": false,
"keepMsgProperties": false,
"delayOnStart": false,
"startDelayTime": "",
"x": 1090,
"y": 260,
"wires": [
[
"24a8a58f01fcf5cc",
"00a3c1cedc235bc8"
],
[]
]
},
{
"id": "24a8a58f01fcf5cc",
"type": "modbus-response",
"z": "48fad0c0f57cea35",
"name": "",
"registerShowMax": 20,
"x": 1130,
"y": 160,
"wires": []
},
{
"id": "40e24a450a247c58",
"type": "ui_button",
"z": "48fad0c0f57cea35",
"name": "Gate",
"group": "fc04be05304743a6",
"order": 8,
"width": 2,
"height": 1,
"passthru": false,
"label": "{{lbl}}",
"tooltip": "",
"color": "",
"bgcolor": "{{background}}",
"className": "",
"icon": "{{myicon}}",
"payload": "u1_coil0",
"payloadType": "flow",
"topic": "addr0",
"topicType": "str",
"x": 570,
"y": 240,
"wires": [
[
"c24f886f7213b046"
]
]
},
{
"id": "5654c6c9dbd8c887",
"type": "function",
"z": "48fad0c0f57cea35",
"name": "Modbus Uint 1",
"func": "if (msg.address == 0)\n msg.payload = {value: msg.payload, 'fc': 15, 'unitid': 1, 'address': msg.address, 'quantity': msg.quantity };\nif (msg.address == 1)\n msg.payload = {value: msg.payload, 'fc': 5, 'unitid': 1, 'address': msg.address, 'quantity': msg.quantity };\nreturn msg;\n",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 900,
"y": 320,
"wires": [
[
"0b897cabd78f207b"
]
]
},
{
"id": "c24f886f7213b046",
"type": "function",
"z": "48fad0c0f57cea35",
"name": "Uint 1",
"func": "var newmsg={};\n\nif (msg.payload == true) {\n if (msg.topic == 'addr0') {\n newmsg.lbl = 'CLOSE';\n newmsg.background=\"magenta\";\n }\n else {\n newmsg.lbl = \"OFF\";\n newmsg.background=\"red\";\n }\n newmsg.myicon = 'fa-toggle-off';\n\n \n} else { \n if (msg.topic == 'addr0') {\n newmsg.lbl='OPEN';\n newmsg.background='lightblue';\n }\n else {\n newmsg.lbl = 'ON';\n newmsg.background='blue';\n }\n newmsg.myicon = 'fa-toggle-on';\n \n}\nnewmsg.topic = msg.topic;\nlet address =2;\nif (newmsg.topic == 'addr0') {\n address =0;\n //newmsg.payload={};\n flow.set('u1_coil0', !msg.payload);\n flow.set('u1_coil1', !msg.payload);\n newmsg.payload = [msg.payload, msg.payload];\n newmsg.quantity = 2;\n}\nif (newmsg.topic == 'addr1') {\n address =1;\n flow.set('u1_coil1', !msg.payload);\n newmsg.payload=msg.payload;\n newmsg.quantity = 1;\n}\nnewmsg.address=address;\n\nreturn newmsg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 710,
"y": 320,
"wires": [
[
"5654c6c9dbd8c887",
"b090ab4f179755b5"
]
]
},
{
"id": "3009c8f5180b8b48",
"type": "ui_button",
"z": "48fad0c0f57cea35",
"name": "Light",
"group": "fc04be05304743a6",
"order": 12,
"width": 2,
"height": 1,
"passthru": false,
"label": "{{lbl}}",
"tooltip": "",
"color": "",
"bgcolor": "{{background}}",
"className": "",
"icon": "{{myicon}}",
"payload": "u1_coil1",
"payloadType": "flow",
"topic": "addr1",
"topicType": "str",
"x": 570,
"y": 420,
"wires": [
[
"c24f886f7213b046"
]
]
},
{
"id": "b090ab4f179755b5",
"type": "switch",
"z": "48fad0c0f57cea35",
"name": "toggle",
"property": "topic",
"propertyType": "msg",
"rules": [
{
"t": "eq",
"v": "addr0",
"vt": "str"
},
{
"t": "eq",
"v": "addr1",
"vt": "str"
}
],
"checkall": "false",
"repair": false,
"outputs": 2,
"x": 430,
"y": 360,
"wires": [
[
"deb6e9852981cbe7"
],
[
"ea4d168a958d4731"
]
]
},
{
"id": "7fcff809d9501142",
"type": "modbus-getter",
"z": "48fad0c0f57cea35",
"name": "Uint1 FC:1",
"showStatusActivities": false,
"showErrors": false,
"showWarnings": true,
"logIOActivities": false,
"unitid": "1",
"dataType": "Coil",
"adr": "0",
"quantity": "2",
"server": "54922a4357ba259d",
"useIOFile": false,
"ioFile": "",
"useIOForPayload": false,
"emptyMsgOnFail": false,
"keepMsgProperties": false,
"delayOnStart": false,
"startDelayTime": "",
"x": 170,
"y": 340,
"wires": [
[
"78865a9a77ef7a00",
"cf34a46dd051bf77"
],
[]
]
},
{
"id": "78865a9a77ef7a00",
"type": "function",
"z": "48fad0c0f57cea35",
"name": "get coil 0 init value",
"func": "var newmsg={};\nflow.set('u1_coil0',!msg.payload[0]);\n\nnewmsg.payload=msg.payload[0];\n\nif (msg.payload[0] == false) {\n newmsg.lbl = \"OPEN\";\n newmsg.myicon='fa-toggle-on';\n newmsg.background='lightblue';\n} else {\n newmsg.lbl = 'CLOSE';\n newmsg.myicon='fa-toggle-off';\n newmsg.background='magenta';\n}\nreturn newmsg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 290,
"y": 240,
"wires": [
[
"deb6e9852981cbe7"
]
]
},
{
"id": "cf34a46dd051bf77",
"type": "function",
"z": "48fad0c0f57cea35",
"name": "get coil 1 init value",
"func": "var newmsg={};\nflow.set('u1_coil1',!msg.payload[1]);\n\nnewmsg.payload=msg.payload[1];\n\nif (msg.payload[1] == false) {\n newmsg.lbl = \"ON\";\n newmsg.background='blue';\n newmsg.myicon='fa-toggle-on';\n} else {\n newmsg.lbl = 'OFF';\n newmsg.myicon='fa-toggle-off';\n newmsg.background='red';\n}\n//newmsg.label = newmsg.label_v;\nreturn newmsg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 290,
"y": 460,
"wires": [
[
"ea4d168a958d4731"
]
]
},
{
"id": "714e1f0e2afa0885",
"type": "function",
"z": "48fad0c0f57cea35",
"name": "color",
"func": "var newmsg={};\nnewmsg.payload = {r:msg.payload[0],g:msg.payload[1],b:msg.payload[2], a:1};\nreturn newmsg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 330,
"y": 40,
"wires": [
[
"67287decfe7536cf"
]
]
},
{
"id": "c1fc304462222840",
"type": "function",
"z": "48fad0c0f57cea35",
"name": "num_of_leds",
"func": "var newmsg = {};\nnewmsg.payload = msg.payload[3];\nreturn newmsg;",
"outputs": 1,
"timeout": 0,
"noerr": 0,
"initialize": "",
"finalize": "",
"libs": [],
"x": 350,
"y": 140,
"wires": [
[
"730e5141782e4353"
]
]
},
{
"id": "22c0fbed37498038",
"type": "ui_text",
"z": "48fad0c0f57cea35",
"group": "fc04be05304743a6",
"order": 1,
"width": 0,
"height": 0,
"name": "",
"label": "Unit 1",
"format": "{{msg.payload}}",
"layout": "row-left",
"className": "",
"style": true,
"font": "Times New Roman,Times,serif",
"fontSize": "22",
"color": "#0000ff",
"x": 890,
"y": 280,
"wires": []
},
{
"id": "b3dc9565e22052fe",
"type": "ui_text",
"z": "48fad0c0f57cea35",
"group": "fc04be05304743a6",
"order": 5,
"width": 0,
"height": 0,
"name": "",
"label": "Unit 2",
"format": "{{msg.payload}}",
"layout": "row-left",
"className": "",
"style": true,
"font": "Times New Roman,Times,serif",
"fontSize": "22",
"color": "#0000ff",
"x": 890,
"y": 40,
"wires": []
},
{
"id": "40896a542df60d8a",
"type": "ui_text",
"z": "48fad0c0f57cea35",
"group": "fc04be05304743a6",
"order": 6,
"width": 1,
"height": 2,
"name": "",
"label": "Gate",
"format": "{{msg.payload}}",
"layout": "col-center",
"className": "",
"style": true,
"font": "",
"fontSize": "15",
"color": "#8f0a0a",
"x": 710,
"y": 240,
"wires": []
},
{
"id": "4828163558cac23f",
"type": "ui_text",
"z": "48fad0c0f57cea35",
"group": "fc04be05304743a6",
"order": 10,
"width": 1,
"height": 2,
"name": "",
"label": "Light:",
"format": "{{msg.payload}}",
"layout": "col-center",
"className": "",
"style": true,
"font": "Verdana,Verdana,Geneva,sans-serif",
"fontSize": "15",
"color": "#133305",
"x": 710,
"y": 420,
"wires": []
},
{
"id": "7710bdc96bee5a64",
"type": "link in",
"z": "48fad0c0f57cea35",
"name": "Unit 1:Read Coil 1",
"links": [
"336bf1d73e3c16f0"
],
"x": 35,
"y": 340,
"wires": [
[
"7fcff809d9501142"
]
]
},
{
"id": "336bf1d73e3c16f0",
"type": "link out",
"z": "48fad0c0f57cea35",
"name": "Unit 1: Read Coil 1",
"mode": "link",
"links": [
"7710bdc96bee5a64"
],
"x": 1235,
"y": 300,
"wires": []
},
{
"id": "fe478f2f1bf74258",
"type": "ui_ui_control",
"z": "48fad0c0f57cea35",
"name": "",
"events": "all",
"x": 80,
"y": 200,
"wires": [
[
"4855c1d9cb3c5de3",
"7fcff809d9501142"
]
]
},
{
"id": "4855c1d9cb3c5de3",
"type": "modbus-getter",
"z": "48fad0c0f57cea35",
"name": "Unit2 FC:3",
"showStatusActivities": false,
"showErrors": false,
"showWarnings": true,
"logIOActivities": false,
"unitid": "2",
"dataType": "HoldingRegister",
"adr": "0",
"quantity": "4",
"server": "54922a4357ba259d",
"useIOFile": false,
"ioFile": "",
"useIOForPayload": false,
"emptyMsgOnFail": false,
"keepMsgProperties": false,
"delayOnStart": false,
"startDelayTime": "",
"x": 170,
"y": 100,
"wires": [
[
"714e1f0e2afa0885",
"c1fc304462222840"
],
[]
]
},
{
"id": "ea4d168a958d4731",
"type": "ui_template",
"z": "48fad0c0f57cea35",
"group": "fc04be05304743a6",
"name": "Light Status",
"order": 11,
"width": 2,
"height": 2,
"format": "<script>\n(function(scope) {\n scope.$watch('msg', function(msg) {\n if (msg) {\n if (msg.payload) {\n scope.light_icon=\"light_on.png\";\n } else {\n scope.light_icon=\"light_off.png\";\n }\n }\n\n\n });\n\n})(scope);\n</script>\n\n\n<div>\n <img src = {{light_icon}} width=60 height=60>\n \n</div>\n",
"storeOutMessages": true,
"fwdInMessages": true,
"resendOnRefresh": true,
"templateScope": "local",
"className": "",
"x": 510,
"y": 480,
"wires": [
[
"3009c8f5180b8b48"
]
]
},
{
"id": "deb6e9852981cbe7",
"type": "ui_template",
"z": "48fad0c0f57cea35",
"group": "fc04be05304743a6",
"name": "Gate Status",
"order": 7,
"width": 2,
"height": 2,
"format": "<script>\n(function(scope) {\n scope.$watch('msg', function(msg) {\n if (msg) {\n if (msg.payload) {\n scope.light_icon=\"gate_open.png\";\n } else {\n scope.light_icon=\"gate_close.png\";\n }\n }\n\n\n });\n\n})(scope);\n</script>\n\n\n<div>\n <img src = {{light_icon}} width=60 height=60>\n \n</div>\n",
"storeOutMessages": true,
"fwdInMessages": true,
"resendOnRefresh": true,
"templateScope": "local",
"className": "",
"x": 490,
"y": 300,
"wires": [
[
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