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[Add] can driver and the 4G driver

This commit is contained in:
Carl 2024-11-20 16:11:23 +08:00
parent 6c057974e0
commit 96e322cd6c
17 changed files with 1322 additions and 310 deletions
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6
CMakeLists.txt
View File

@ -42,6 +42,10 @@ set(DRV_SOURCE
${PROJECT_SOURCE_DIR}/drv/drv_can.c
# TCP驱动源文件
${PROJECT_SOURCE_DIR}/drv/drv_tcp.c
# 4G驱动源文件
${PROJECT_SOURCE_DIR}/drv/drv_4g.c
# CAN驱动源文件
${PROJECT_SOURCE_DIR}/drv/drv_can.c
)
# 添加KIT源文件
@ -71,6 +75,7 @@ include_directories(
lib/libxml2/include
lib/libssl/include
lib/libcjson/include
lib/libmodbus/include
# /usr/include
)
@ -83,6 +88,7 @@ NAMES
ssl PATHS lib/libssl/lib
crypto PATHS lib/libssl/lib
cjson PATHS lib/libcjson/lib
modbus PATHS lib/libmodbus/lib
)
target_link_libraries(${ProjectName} PRIVATE ${MY_LIBRARY_PATH})

125
drv/drv_4g.c
View File

@ -0,0 +1,125 @@
#include "drv_4g.h"
#define BUFFER_SIZE 1024
#define LOCAL "10.244.216.42"
void client(char interface[], char server_addr[], int server_port) {
int sock = 0;
struct ifreq ifr;
char buffer[BUFFER_SIZE];
// 创建套接字
if ((sock = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
perror("套接字创建失败");
exit(EXIT_FAILURE);
}
//************如果只绑定网卡名不能连接服务端，可以同时绑定ip和网卡尝试一下************* */
// //local ip
// struct sockaddr_in local_addr;
// local_addr.sin_family = AF_INET;
// local_addr.sin_port = htons(0);
// local_addr.sin_addr.s_addr = inet_addr("10.232.226.30");
// // if (inet_pton(AF_INET, "192.168.2.190", &local_addr.sin_addr) <= 0) {
// // perror("无效的地址");
// // exit(EXIT_FAILURE);
// // }
// if (bind(sock, (struct sockaddr *)&local_addr, sizeof(local_addr)) < 0) {
// perror("bind失败");
// exit(EXIT_FAILURE);
// }
// else
// {
// printf("bind success\n");
// }
// else {
// printf("bind success!\n");
// }
// if ((sock = socket(AF_INET, SOCK_STREAM, 0)) == 0) {
// perror("套接字创建失败");
// exit(EXIT_FAILURE);
// }
// 设置要绑定的网卡接口名称
strcpy(ifr.ifr_name, interface);
// 将套接字绑定到指定的网卡
if (setsockopt(sock, SOL_SOCKET, SO_BINDTODEVICE, &ifr, sizeof(ifr)) < 0) {
perror("setsockopt");
close(sock);
exit(1);
}
else{
printf("connect the local interface:%s\n", ifr.ifr_name);
}
//绑定服务端的ip
// 设置服务器地址结构体
struct sockaddr_in serv_addr;
serv_addr.sin_family = AF_INET;
serv_addr.sin_port = htons(server_port);
serv_addr.sin_addr.s_addr = inet_addr(server_addr);
// 连接服务器
if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) < 0) {
perror("connect失败");
exit(EXIT_FAILURE);
}
else {
printf("connect success!\n");
}
// // 将服务器IP地址从点分十进制字符串转换为网络字节序
// if (inet_pton(AF_INET, "47.120.14.45", &serv_addr.sin_addr) <= 0) {
// perror("无效的地址");
// exit(EXIT_FAILURE);
// }
while (1)
{
// 输入要发送的数据
printf("请输入要发送的数据（输入'quit'退出）：");
fgets(buffer, BUFFER_SIZE, stdin);
// 去除换行符
buffer[strcspn(buffer, "\n")] = 0;
if (strcmp(buffer, "quit") == 0) {
break;
}
// 向服务器发送数据
if (send(sock, buffer, strlen(buffer), 0) < 0) {
perror("发送数据失败");
break;
}
printf("已向服务端发送数据\n");
// 接收服务器返回的回复数据
memset(buffer, 0, BUFFER_SIZE);
if (recv(sock, buffer, BUFFER_SIZE, 0) < 0) {
perror("接收数据失败");
break;
}
if (strlen(buffer) == 0) {
// 服务器断开连接
printf("服务器已断开连接\n");
break;
}
printf("收到服务端回复：%s\n", buffer);
}
// 关闭套接字
close(sock);
}

21
drv/drv_4g.h
View File

@ -0,0 +1,21 @@
#ifndef __DRV_4G_H_
#define __DRV_4G_H_
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <netdb.h>
#include <errno.h>
#include <pthread.h>
#include <sys/ioctl.h>
void client(char interface[], char server_addr[], int server_port);
#endif

362
drv/drv_can.c
View File

@ -1,287 +1,123 @@
#include "drv_can.h"
/*
* @description : 字符串按格式输出
* @param - *destpoint : 字符串格式缓冲区
* @param - *fmt : 多个参数
* @return : 按格式输出字符串缓冲区首指针
*/
char func_dprintf(char *destpoint, char *fmt, ...)
void can_recv(char cannum[], unsigned int canID[], int canIDnum, int dataLength)
{
va_list arg_ptr;
char ulen, *tmpBuf;
tmpBuf = destpoint;
va_start(arg_ptr, fmt);
ulen = vsprintf(tmpBuf, fmt, arg_ptr);
va_end(arg_ptr);
return ulen;
}
/*
* @description : 打开can外设，设置波特率，创建文件描述符
* @param - *device : 设备名称
* @param - para : can应用参数
* @return : 打开设备执成功返回文件描述符，失败返回-1
*/
int func_open_can(char *device, struct_can_param para)
{
FILE *fstream = NULL;
char buff[300] = {0}, command[50] = {0};
int fd = -1;
struct sockaddr_can addr;
struct ifreq ifr;
struct can_frame frame;
struct can_frame frame_send;
int s;
int nbytes;
struct can_filter filters[canIDnum];
/*关闭can设备 ifconfig can0 down*/
memset(buff, 0, sizeof(buff));
memset(command, 0, sizeof(command));
func_dprintf(command, "ifconfig %s down", device);
printf("%s \n", command);
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s < 0) {
perror("Socket creation failed");
exit(EXIT_FAILURE);
}
printf("创建Can_recv_Socket sucess\n");
if (NULL == (fstream = popen(command, "w")))
{
fprintf(stderr, "execute command failed: %s", strerror(errno));
}
while (NULL != fgets(buff, sizeof(buff), fstream))
{
printf("%s\n", buff);
if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
return -1;
}
pclose(fstream);
sleep(1);
/*设置can波特率 ip link set can0 up type can bitrate 250000 triple-sampling on*/
memset(buff, 0, sizeof(buff));
memset(command, 0, sizeof(command));
if (para.loopback_mode == 1)
{
func_dprintf(command, "ip link set %s up type can bitrate %d triple-sampling on loopback on", device, para.baudrate);
}
else
{
func_dprintf(command, "ip link set %s up type can bitrate %d triple-sampling on loopback off", device, para.baudrate);
}
printf("%s \n", command);
if (NULL == (fstream = popen(command, "w")))
{
fprintf(stderr, "execute command failed: %s", strerror(errno));
}
while (NULL != fgets(buff, sizeof(buff), fstream))
{
printf("%s\n", buff);
if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
return -1;
}
pclose(fstream);
sleep(1);
/*打开can设备 ifconfig can0 up*/
memset(buff, 0, sizeof(buff));
memset(command, 0, sizeof(command));
func_dprintf(command, "ifconfig %s up", device);
printf("%s \n", command);
if (NULL == (fstream = popen(command, "w")))
{
fprintf(stderr, "execute command failed: %s", strerror(errno));
}
while (NULL != fgets(buff, sizeof(buff), fstream))
{
printf("%s\n", buff);
if (strstr(buff, "No such device") || strstr(buff, "Cannot find device"))
return -1;
}
pclose(fstream);
sleep(3);
/* 创建 socket */
fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (fd < 0)
{
printf("socket:%s", strerror(errno));
return -1;
}
/* 设置接口设备名称 */
strcpy(ifr.ifr_name, device);
/* 确定接口 index */
if (ioctl(fd, SIOCGIFINDEX, &ifr) < 0)
{
printf("SIOCGIFINDEX:%s\n", strerror(errno));
return -1;
}
memset(&addr, 0, sizeof(addr));
memset(&addr, 0, sizeof(struct sockaddr_can));
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
/* 绑定 socket到 CAN 接口 */
if (bind(fd, (struct sockaddr *)&addr, sizeof(addr)) < 0)
addr.can_ifindex = if_nametoindex(cannum); // 设置can接口
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("Binding failed");
exit(EXIT_FAILURE);
}
printf("连接CAN设备 sucess\n");
// 设置发送帧的参数，使用传入的canID和数据长度
frame_send.can_id = 0x123456;
frame_send.can_dlc = dataLength;
memset(frame_send.data, 0, dataLength);
frame_send.data[0] = 0x11;
frame_send.data[1] = 0x22;
// 设置过滤规则，只接收指定canID的帧
for(int i = 0; i < canIDnum; i++)
{
printf("bind:%s\n", strerror(errno));
return -1;
filters[i].can_id = canID[i];
filters[i].can_mask = 0x7FF; // 这里的掩码根据实际需求设置，0x7FF表示只匹配canID的低11位
}
return fd;
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, filters, sizeof(filters)) < 0) {
perror("Setting filter failed");
exit(EXIT_FAILURE);
}
/*
* @description : 设置can回环模式和过滤规则
* @param - fd : 文件描述符
* @param - para: can应用参数
* @return : 设置成功返回1，失败返回-1
*/
int func_set_can(int fd, struct_can_param para)
{
int loopback = 1;
int reciveown = 1;
if (para.loopback_mode == 1)
{
//回环设置 0 关闭回环 1 打开回环
setsockopt(fd, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
//接收自己的帧 0 不接收自己帧 1 接收自己帧
setsockopt(fd, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, &reciveown, sizeof(reciveown));
nbytes = read(s, &frame, sizeof(struct can_frame));
if (nbytes < 0) {
perror("Read failed");
exit(EXIT_FAILURE);
}
int match_found = 0;
for (int i = 0; i < canIDnum; i++) {
if ((frame.can_id & filters[i].can_mask) == filters[i].can_id) {
match_found = 1;
break;
}
}
if (match_found) {
printf("Received %d bytes: CAN ID 0x%X, Data: ", nbytes, frame.can_id);
for (int i = 0; i < frame.can_dlc; i++) {
printf("%02X ", frame.data[i]);
}
printf("\n");
// nbytes = write(s, &frame_send, sizeof(struct can_frame));
// if (nbytes < 0) {
// perror("Send failed");
// exit(EXIT_FAILURE);
// }
// printf("Sent %d bytes: CAN ID 0x%X, Data: ", nbytes, frame_send.can_id);
// for (int i = 0; i < frame_send.can_dlc; i++) {
// printf("%02X ", frame_send.data[i]);
// }
// printf("\n");
}
close(s);
}
/* 设置过滤规则 */
if (setsockopt(fd, SOL_CAN_RAW, CAN_RAW_FILTER, &para.filter, sizeof(para.filter)) < 0)
void can_send(char cannum[], unsigned int canID, char* dataToSend, int dataLength)
{
printf("error when set filter\n");
return -1;
struct sockaddr_can addr;
struct can_frame frame_send;
int s;
s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s < 0) {
perror("Socket creation failed for sending");
exit(EXIT_FAILURE);
}
return 1;
printf("create the can_send socket success!\n");
memset(&addr, 0, sizeof(struct sockaddr_can));
addr.can_family = AF_CAN;
addr.can_ifindex = if_nametoindex(cannum);
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("Binding failed for sending");
exit(EXIT_FAILURE);
}
/*
* @description : can接收一个can帧
* @param - fd : 文件描述符
* @param - *pframe: 一个can帧结构体指针
* @return : 接收数据长度
*/
int func_receive_can_frame(int fd, struct can_frame *pframe)
{
int rx_count = 0;
rx_count = recv(fd, pframe, sizeof(*pframe), 0);
if (rx_count <= 0)
{
return rx_count;
}
else
{
if (pframe->can_id & CAN_EFF_FLAG) /*如果是扩展帧，清除扩展帧标识*/
{
pframe->can_id &= (~CAN_EFF_FLAG);
}
else
{
pframe->can_id &= (~CAN_SFF_MASK);
}
// 设置发送帧的参数
frame_send.can_id = canID;
frame_send.can_dlc = dataLength;
memset(frame_send.data, 0, dataLength);
for (int i = 0; i < dataLength; i++) {
frame_send.data[i] = dataToSend[i];
}
return pframe->can_dlc;
int nbytes = write(s, &frame_send, sizeof(struct can_frame));
if (nbytes < 0) {
perror("Send failed");
exit(EXIT_FAILURE);
}
/*
* @description : can接收一组数据包
* @param - fd : 文件描述符
* @param - *buff: 要接收can一组数据的缓冲区首指针
* @param - len : 接收到一组数据的长度
* @return : 接收数据长度
*/
int func_receive_can_buff(int fd, unsigned char *buff, int len)
{
int receive_len = 0, total_receive_len = 0;
struct can_frame frame;
int i = 0;
printf("Sent %d bytes: CAN ID 0x%X, Data: ", nbytes, frame_send.can_id);
for (int i = 0; i < frame_send.can_dlc; i++) {
printf("%02X ", frame_send.data[i]);
}
printf("\n");
while (1)
{
receive_len = func_receive_can_frame(fd, &frame);
for (i = 0; i < receive_len; i++)
{
*(buff + total_receive_len) = frame.data[i];
total_receive_len++;
}
if ((receive_len < 8) || (total_receive_len > (len - 8)))
{
return total_receive_len;
}
}
return total_receive_len;
}
/*
* @description : can发送一个can帧
* @param - fd : 文件描述符
* @param - *pframe: 一个can帧结构体指针
* @param - param : can应用参数
* @return : 发送数据长度，发送失败返回-1
*/
int func_send_can_frame(int fd, struct can_frame *pframe, struct_can_param param)
{
int result = 0;
if (param.extend == 1) /*扩展帧增加扩展帧标志*/
{
pframe->can_id &= CAN_EFF_MASK;
pframe->can_id |= CAN_EFF_FLAG;
}
else
{
pframe->can_id &= CAN_SFF_MASK;
}
result = send(fd, pframe, sizeof(struct can_frame), 0);
if (result == -1)
{
printf("send:%s\n", strerror(errno));
return -1;
}
return result;
}
/*
* @description : can发送一组数据包
* @param - fd : 文件描述符
* @param - *buff: 要发送can一组数据的缓冲区首指针
* @param - len : 发送数据的长度
* @param - param: can应用参数
* @return : 实际发送数据长度
*/
int func_send_can_buff(int fd, unsigned char *buff, int len, struct_can_param param)
{
int remain_frame_len = 0, frame_numb = 0;
struct can_frame frame;
int i = 0;
remain_frame_len = len;
while (1)
{
if (remain_frame_len >= 8)
{
frame.can_dlc = 8; /*填充发送长度*/
remain_frame_len -= 8; /*剩余数据长度*/
}
else
{
frame.can_dlc = remain_frame_len; /*填充发送长度*/
remain_frame_len = 0; //
}
frame.can_id = param.id; /*填充发送id*/
for (i = 0; i < frame.can_dlc; i++)
{
frame.data[i] = buff[frame_numb * 8 + i]; /*填充发送数据*/
}
func_send_can_frame(fd, &frame, param);
frame_numb++;
if (remain_frame_len == 0)
{
return len;
}
}
return len;
close(s);
}

42
drv/drv_can.h
View File

@ -1,47 +1,19 @@
#ifndef __DRV_CAN_H_
#define __DRV_CAN_H_
#ifndef __DEV_CAN_H_
#define __DEV_CAN_H_
#define _DEFAULT_SOURCE
#include <linux/can.h>
#include <errno.h>
#include <stdio.h>
#include <stdarg.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <linux/can.h>
#include <linux/can/raw.h>
#include <termios.h> /*PPSIX 终端控制定义*/
#include <arpa/inet.h>
#include <net/if.h>
#define CAN_MODE 0
#define CAN_FD_MODE 1
void can_recv(char cannum[], unsigned int canID[], int canIDnum, int dataLength);
/*CAN口参数结构体 */
typedef struct
{
unsigned long baudrate; /*波特率 5k~1000k*/
unsigned int id; /*设备ID*/
struct can_filter filter; /*接收设备过滤ID*/
unsigned char extend; /*扩展ID*/
unsigned char loopback_mode; /*回环模式*/
unsigned char canfd_mode; /*CANFD模式*/
unsigned long data_baudrate; /*CANFD模式下需要单独设置数据波特率*/
} struct_can_param;
int func_open_can(char *device, struct_can_param para);
int func_set_can(int fd, struct_can_param para);
int func_receive_can_buff(int fd, unsigned char *buff, int len);
int func_send_can_buff(int fd, unsigned char *buff, int len, struct_can_param param);
// int func_open_canfd(char *device, struct_can_param para);
// int func_set_canfd(int fd, struct_can_param para);
// int func_receive_canfd_buff(int fd, unsigned char *buff, int len);
// int func_send_canfd_buff(int fd, unsigned char *buff, int len, struct_can_param param);
void can_send(char cannum[], unsigned int canID, char* dataToSend, int dataLength);
#endif

6
drv/drv_tcp.h
View File

@ -1,8 +1,6 @@
#ifndef __DRV_TCP_H_
#define __DRV_TCP_H_
#define _DEFAULT_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@ -13,9 +11,9 @@
#include <sys/ioctl.h>
#include <pthread.h>
void getInterfacesAndIPs(char *interfaces[], char *ips[], int *numInterfaces);
void getInterfacesAndIPs(char *interfaces[], char *ips[], int *count);
void closeAndFree(int server_fd, int new_socket, char *interface, char *ip);
void *tcpServeThread(void *arg);
void tcpServe(int port);
void *tcpServeThread(void *arg);
#endif

292
lib/libmodbus/include/config.h Normal file
View File

@ -0,0 +1,292 @@
/* config.h. Generated from config.h.in by configure. */
/* config.h.in. Generated from configure.ac by autoheader. */
/* Define to 1 if you have the `accept4' function. */
/* #undef HAVE_ACCEPT4 */
/* Define to 1 if you have the <arpa/inet.h> header file. */
/* #undef HAVE_ARPA_INET_H */
/* Define to 1 if you have the <byteswap.h> header file. */
/* #undef HAVE_BYTESWAP_H */
/* Define to 1 if you have the declaration of `TIOCM_RTS', and to 0 if you
don't. */
#define HAVE_DECL_TIOCM_RTS 0
/* Define to 1 if you have the declaration of `TIOCSRS485', and to 0 if you
don't. */
#define HAVE_DECL_TIOCSRS485 0
/* Define to 1 if you have the declaration of `__CYGWIN__', and to 0 if you
don't. */
#define HAVE_DECL___CYGWIN__ 0
/* Define to 1 if you have the <dlfcn.h> header file. */
/* #undef HAVE_DLFCN_H */
/* Define to 1 if you have the <errno.h> header file. */
#define HAVE_ERRNO_H 1
/* Define to 1 if you have the <fcntl.h> header file. */
#define HAVE_FCNTL_H 1
/* Define to 1 if you have the `getaddrinfo' function. */
/* #undef HAVE_GETADDRINFO */
/* Define to 1 if you have the `gettimeofday' function. */
#define HAVE_GETTIMEOFDAY 1
/* Define to 1 if you have the `inet_ntop' function. */
/* #undef HAVE_INET_NTOP */
/* Define to 1 if you have the `inet_pton' function. */
/* #undef HAVE_INET_PTON */
/* Define to 1 if you have the <inttypes.h> header file. */
#define HAVE_INTTYPES_H 1
/* Define to 1 if you have the <limits.h> header file. */
#define HAVE_LIMITS_H 1
/* Define to 1 if you have the <linux/serial.h> header file. */
/* #undef HAVE_LINUX_SERIAL_H */
/* Define to 1 if you have the <minix/config.h> header file. */
/* #undef HAVE_MINIX_CONFIG_H */
/* Define to 1 if you have the <netdb.h> header file. */
/* #undef HAVE_NETDB_H */
/* Define to 1 if you have the <netinet/in.h> header file. */
/* #undef HAVE_NETINET_IN_H */
/* Define to 1 if you have the <netinet/tcp.h> header file. */
/* #undef HAVE_NETINET_TCP_H */
/* Define to 1 if you have the `select' function. */
/* #undef HAVE_SELECT */
/* Define to 1 if you have the `socket' function. */
/* #undef HAVE_SOCKET */
/* Define to 1 if you have the <stdint.h> header file. */
#define HAVE_STDINT_H 1
/* Define to 1 if you have the <stdio.h> header file. */
#define HAVE_STDIO_H 1
/* Define to 1 if you have the <stdlib.h> header file. */
#define HAVE_STDLIB_H 1
/* Define to 1 if you have the `strerror' function. */
#define HAVE_STRERROR 1
/* Define to 1 if you have the <strings.h> header file. */
#define HAVE_STRINGS_H 1
/* Define to 1 if you have the <string.h> header file. */
#define HAVE_STRING_H 1
/* Define to 1 if you have the `strlcpy' function. */
/* #undef HAVE_STRLCPY */
/* Define to 1 if you have the <sys/ioctl.h> header file. */
/* #undef HAVE_SYS_IOCTL_H */
/* Define to 1 if you have the <sys/params.h> header file. */
/* #undef HAVE_SYS_PARAMS_H */
/* Define to 1 if you have the <sys/socket.h> header file. */
/* #undef HAVE_SYS_SOCKET_H */
/* Define to 1 if you have the <sys/stat.h> header file. */
#define HAVE_SYS_STAT_H 1
/* Define to 1 if you have the <sys/time.h> header file. */
#define HAVE_SYS_TIME_H 1
/* Define to 1 if you have the <sys/types.h> header file. */
#define HAVE_SYS_TYPES_H 1
/* Define to 1 if you have the <termios.h> header file. */
/* #undef HAVE_TERMIOS_H */
/* Define to 1 if you have the <time.h> header file. */
#define HAVE_TIME_H 1
/* Define to 1 if you have the <unistd.h> header file. */
#define HAVE_UNISTD_H 1
/* Define to 1 if you have the <wchar.h> header file. */
#define HAVE_WCHAR_H 1
/* Define to 1 if you have the <winsock2.h> header file. */
#define HAVE_WINSOCK2_H 1
/* Define to the sub-directory where libtool stores uninstalled libraries. */
#define LT_OBJDIR ".libs/"
/* Name of package */
#define PACKAGE "libmodbus"
/* Define to the address where bug reports for this package should be sent. */
#define PACKAGE_BUGREPORT "https://github.com/stephane/libmodbus/issues"
/* Define to the full name of this package. */
#define PACKAGE_NAME "libmodbus"
/* Define to the full name and version of this package. */
#define PACKAGE_STRING "libmodbus 3.1.10"
/* Define to the one symbol short name of this package. */
#define PACKAGE_TARNAME "libmodbus"
/* Define to the home page for this package. */
#define PACKAGE_URL "http://libmodbus.org/"
/* Define to the version of this package. */
#define PACKAGE_VERSION "3.1.10"
/* Define to 1 if all of the C90 standard headers exist (not just the ones
required in a freestanding environment). This macro is provided for
backward compatibility; new code need not use it. */
#define STDC_HEADERS 1
/* Enable extensions on AIX 3, Interix. */
#ifndef _ALL_SOURCE
# define _ALL_SOURCE 1
#endif
/* Enable general extensions on macOS. */
#ifndef _DARWIN_C_SOURCE
# define _DARWIN_C_SOURCE 1
#endif
/* Enable general extensions on Solaris. */
#ifndef __EXTENSIONS__
# define __EXTENSIONS__ 1
#endif
/* Enable GNU extensions on systems that have them. */
#ifndef _GNU_SOURCE
# define _GNU_SOURCE 1
#endif
/* Enable X/Open compliant socket functions that do not require linking
with -lxnet on HP-UX 11.11. */
#ifndef _HPUX_ALT_XOPEN_SOCKET_API
# define _HPUX_ALT_XOPEN_SOCKET_API 1
#endif
/* Identify the host operating system as Minix.
This macro does not affect the system headers' behavior.
A future release of Autoconf may stop defining this macro. */
#ifndef _MINIX
/* # undef _MINIX */
#endif
/* Enable general extensions on NetBSD.
Enable NetBSD compatibility extensions on Minix. */
#ifndef _NETBSD_SOURCE
# define _NETBSD_SOURCE 1
#endif
/* Enable OpenBSD compatibility extensions on NetBSD.
Oddly enough, this does nothing on OpenBSD. */
#ifndef _OPENBSD_SOURCE
# define _OPENBSD_SOURCE 1
#endif
/* Define to 1 if needed for POSIX-compatible behavior. */
#ifndef _POSIX_SOURCE
/* # undef _POSIX_SOURCE */
#endif
/* Define to 2 if needed for POSIX-compatible behavior. */
#ifndef _POSIX_1_SOURCE
/* # undef _POSIX_1_SOURCE */
#endif
/* Enable POSIX-compatible threading on Solaris. */
#ifndef _POSIX_PTHREAD_SEMANTICS
# define _POSIX_PTHREAD_SEMANTICS 1
#endif
/* Enable extensions specified by ISO/IEC TS 18661-5:2014. */
#ifndef __STDC_WANT_IEC_60559_ATTRIBS_EXT__
# define __STDC_WANT_IEC_60559_ATTRIBS_EXT__ 1
#endif
/* Enable extensions specified by ISO/IEC TS 18661-1:2014. */
#ifndef __STDC_WANT_IEC_60559_BFP_EXT__
# define __STDC_WANT_IEC_60559_BFP_EXT__ 1
#endif
/* Enable extensions specified by ISO/IEC TS 18661-2:2015. */
#ifndef __STDC_WANT_IEC_60559_DFP_EXT__
# define __STDC_WANT_IEC_60559_DFP_EXT__ 1
#endif
/* Enable extensions specified by ISO/IEC TS 18661-4:2015. */
#ifndef __STDC_WANT_IEC_60559_FUNCS_EXT__
# define __STDC_WANT_IEC_60559_FUNCS_EXT__ 1
#endif
/* Enable extensions specified by ISO/IEC TS 18661-3:2015. */
#ifndef __STDC_WANT_IEC_60559_TYPES_EXT__
# define __STDC_WANT_IEC_60559_TYPES_EXT__ 1
#endif
/* Enable extensions specified by ISO/IEC TR 24731-2:2010. */
#ifndef __STDC_WANT_LIB_EXT2__
# define __STDC_WANT_LIB_EXT2__ 1
#endif
/* Enable extensions specified by ISO/IEC 24747:2009. */
#ifndef __STDC_WANT_MATH_SPEC_FUNCS__
# define __STDC_WANT_MATH_SPEC_FUNCS__ 1
#endif
/* Enable extensions on HP NonStop. */
#ifndef _TANDEM_SOURCE
# define _TANDEM_SOURCE 1
#endif
/* Enable X/Open extensions. Define to 500 only if necessary
to make mbstate_t available. */
#ifndef _XOPEN_SOURCE
/* # undef _XOPEN_SOURCE */
#endif
/* Version number of package */
#define VERSION "3.1.10"
/* _ */
#define WINVER 0x0501
/* Number of bits in a file offset, on hosts where this is settable. */
#define _FILE_OFFSET_BITS 64
/* Define for large files, on AIX-style hosts. */
/* #undef _LARGE_FILES */
/* Define for Solaris 2.5.1 so the uint32_t typedef from <sys/synch.h>,
<pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
#define below would cause a syntax error. */
/* #undef _UINT32_T */
/* Define for Solaris 2.5.1 so the uint8_t typedef from <sys/synch.h>,
<pthread.h>, or <semaphore.h> is not used. If the typedef were allowed, the
#define below would cause a syntax error. */
/* #undef _UINT8_T */
/* Define to `__inline__' or `__inline' if that's what the C compiler
calls it, or to nothing if 'inline' is not supported under any name. */
#ifndef __cplusplus
/* #undef inline */
#endif
/* Define to the type of a signed integer type of width exactly 64 bits if
such a type exists and the standard includes do not define it. */
/* #undef int64_t */
/* Define to `unsigned int' if <sys/types.h> does not define. */
/* #undef size_t */
/* Define to `int' if <sys/types.h> does not define. */
/* #undef ssize_t */
/* Define to the type of an unsigned integer type of width exactly 16 bits if
such a type exists and the standard includes do not define it. */
/* #undef uint16_t */
/* Define to the type of an unsigned integer type of width exactly 32 bits if
such a type exists and the standard includes do not define it. */
/* #undef uint32_t */
/* Define to the type of an unsigned integer type of width exactly 8 bits if
such a type exists and the standard includes do not define it. */
/* #undef uint8_t */

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/*
* Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* SPDX-License-Identifier: LGPL-2.1-or-later
*/
#ifndef MODBUS_PRIVATE_H
#define MODBUS_PRIVATE_H
// clang-format off
#ifndef _MSC_VER
# include <stdint.h>
# include <sys/time.h>
#else
# include "stdint.h"
# include <time.h>
typedef int ssize_t;
#endif
// clang-format on
#include <config.h>
#include <sys/types.h>
#include "modbus.h"
MODBUS_BEGIN_DECLS
/* It's not really the minimal length (the real one is report slave ID
* in RTU (4 bytes)) but it's a convenient size to use in RTU or TCP
* communications to read many values or write a single one.
* Maximum between :
* - HEADER_LENGTH_TCP (7) + function (1) + address (2) + number (2)
* - HEADER_LENGTH_RTU (1) + function (1) + address (2) + number (2) + CRC (2)
*/
#define _MIN_REQ_LENGTH 12
#define _REPORT_SLAVE_ID 180
#define _MODBUS_EXCEPTION_RSP_LENGTH 5
/* Timeouts in microsecond (0.5 s) */
#define _RESPONSE_TIMEOUT 500000
#define _BYTE_TIMEOUT 500000
typedef enum {
_MODBUS_BACKEND_TYPE_RTU = 0,
_MODBUS_BACKEND_TYPE_TCP
} modbus_backend_type_t;
/*
* ---------- Request Indication ----------
* | Client | ---------------------->| Server |
* ---------- Confirmation Response ----------
*/
typedef enum {
/* Request message on the server side */
MSG_INDICATION,
/* Request message on the client side */
MSG_CONFIRMATION
} msg_type_t;
/* This structure reduces the number of params in functions and so
* optimizes the speed of execution (~ 37%). */
typedef struct _sft {
int slave;
int function;
int t_id;
} sft_t;
typedef struct _modbus_backend {
unsigned int backend_type;
unsigned int header_length;
unsigned int checksum_length;
unsigned int max_adu_length;
int (*set_slave)(modbus_t *ctx, int slave);
int (*build_request_basis)(
modbus_t *ctx, int function, int addr, int nb, uint8_t *req);
int (*build_response_basis)(sft_t *sft, uint8_t *rsp);
int (*prepare_response_tid)(const uint8_t *req, int *req_length);
int (*send_msg_pre)(uint8_t *req, int req_length);
ssize_t (*send)(modbus_t *ctx, const uint8_t *req, int req_length);
int (*receive)(modbus_t *ctx, uint8_t *req);
ssize_t (*recv)(modbus_t *ctx, uint8_t *rsp, int rsp_length);
int (*check_integrity)(modbus_t *ctx, uint8_t *msg, const int msg_length);
int (*pre_check_confirmation)(modbus_t *ctx,
const uint8_t *req,
const uint8_t *rsp,
int rsp_length);
int (*connect)(modbus_t *ctx);
unsigned int (*is_connected)(modbus_t *ctx);
void (*close)(modbus_t *ctx);
int (*flush)(modbus_t *ctx);
int (*select)(modbus_t *ctx, fd_set *rset, struct timeval *tv, int msg_length);
void (*free)(modbus_t *ctx);
} modbus_backend_t;
struct _modbus {
/* Slave address */
int slave;
/* Socket or file descriptor */
int s;
int debug;
int error_recovery;
int quirks;
struct timeval response_timeout;
struct timeval byte_timeout;
struct timeval indication_timeout;
const modbus_backend_t *backend;
void *backend_data;
uint8_t *sendMsg;
int sendMsgLen;
uint8_t *recvMsg;
int recvMsgLen;
};
void _modbus_init_common(modbus_t *ctx);
void _error_print(modbus_t *ctx, const char *context);
int _modbus_receive_msg(modbus_t *ctx, uint8_t *msg, msg_type_t msg_type);
#ifndef HAVE_STRLCPY
size_t strlcpy(char *dest, const char *src, size_t dest_size);
#endif
MODBUS_END_DECLS
#endif /* MODBUS_PRIVATE_H */

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/*
* Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* SPDX-License-Identifier: LGPL-2.1-or-later
*/
#ifndef MODBUS_RTU_PRIVATE_H
#define MODBUS_RTU_PRIVATE_H
#ifndef _MSC_VER
#include <stdint.h>
#else
#include "stdint.h"
#endif
#if defined(_WIN32)
#include <windows.h>
#else
#include <termios.h>
#endif
#define _MODBUS_RTU_HEADER_LENGTH 1
#define _MODBUS_RTU_PRESET_REQ_LENGTH 6
#define _MODBUS_RTU_PRESET_RSP_LENGTH 2
#define _MODBUS_RTU_CHECKSUM_LENGTH 2
#if defined(_WIN32)
#if !defined(ENOTSUP)
#define ENOTSUP WSAEOPNOTSUPP
#endif
/* WIN32: struct containing serial handle and a receive buffer */
#define PY_BUF_SIZE 512
struct win32_ser {
/* File handle */
HANDLE fd;
/* Receive buffer */
uint8_t buf[PY_BUF_SIZE];
/* Received chars */
DWORD n_bytes;
};
#endif /* _WIN32 */
typedef struct _modbus_rtu {
/* Device: "/dev/ttyS0", "/dev/ttyUSB0" or "/dev/tty.USA19*" on Mac OS X. */
char *device;
/* Bauds: 9600, 19200, 57600, 115200, etc */
int baud;
/* Data bit */
uint8_t data_bit;
/* Stop bit */
uint8_t stop_bit;
/* Parity: 'N', 'O', 'E' */
char parity;
#if defined(_WIN32)
struct win32_ser w_ser;
DCB old_dcb;
#else
/* Save old termios settings */
struct termios old_tios;
#endif
#if HAVE_DECL_TIOCSRS485
int serial_mode;
#endif
#if HAVE_DECL_TIOCM_RTS
int rts;
int rts_delay;
int onebyte_time;
void (*set_rts)(modbus_t *ctx, int on);
#endif
/* To handle many slaves on the same link */
int confirmation_to_ignore;
} modbus_rtu_t;
#endif /* MODBUS_RTU_PRIVATE_H */

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/*
* Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* SPDX-License-Identifier: LGPL-2.1-or-later
*/
#ifndef MODBUS_RTU_H
#define MODBUS_RTU_H
#include "modbus.h"
MODBUS_BEGIN_DECLS
/* Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5
* RS232 / RS485 ADU = 253 bytes + slave (1 byte) + CRC (2 bytes) = 256 bytes
*/
#define MODBUS_RTU_MAX_ADU_LENGTH 256
MODBUS_API modbus_t *
modbus_new_rtu(const char *device, int baud, char parity, int data_bit, int stop_bit);
#define MODBUS_RTU_RS232 0
#define MODBUS_RTU_RS485 1
MODBUS_API int modbus_rtu_set_serial_mode(modbus_t *ctx, int mode);
MODBUS_API int modbus_rtu_get_serial_mode(modbus_t *ctx);
#define MODBUS_RTU_RTS_NONE 0
#define MODBUS_RTU_RTS_UP 1
#define MODBUS_RTU_RTS_DOWN 2
MODBUS_API int modbus_rtu_set_rts(modbus_t *ctx, int mode);
MODBUS_API int modbus_rtu_get_rts(modbus_t *ctx);
MODBUS_API int modbus_rtu_set_custom_rts(modbus_t *ctx,
void (*set_rts)(modbus_t *ctx, int on));
MODBUS_API int modbus_rtu_set_rts_delay(modbus_t *ctx, int us);
MODBUS_API int modbus_rtu_get_rts_delay(modbus_t *ctx);
MODBUS_END_DECLS
#endif /* MODBUS_RTU_H */

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/*
* Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* SPDX-License-Identifier: LGPL-2.1-or-later
*/
#ifndef MODBUS_TCP_PRIVATE_H
#define MODBUS_TCP_PRIVATE_H
#define _MODBUS_TCP_HEADER_LENGTH 7
#define _MODBUS_TCP_PRESET_REQ_LENGTH 12
#define _MODBUS_TCP_PRESET_RSP_LENGTH 8
#define _MODBUS_TCP_CHECKSUM_LENGTH 0
/* In both structures, the transaction ID must be placed on first position
to have a quick access not dependent of the TCP backend */
typedef struct _modbus_tcp {
/* Extract from MODBUS Messaging on TCP/IP Implementation Guide V1.0b
(page 23/46):
The transaction identifier is used to associate the future response
with the request. This identifier is unique on each TCP connection. */
uint16_t t_id;
/* TCP port */
int port;
/* IP address */
char ip[16];
} modbus_tcp_t;
typedef struct _modbus_tcp_pi {
/* Transaction ID */
uint16_t t_id;
/* TCP port */
int port;
/* Node */
char *node;
/* Service */
char *service;
} modbus_tcp_pi_t;
#endif /* MODBUS_TCP_PRIVATE_H */

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/*
* Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* SPDX-License-Identifier: LGPL-2.1-or-later
*/
#ifndef MODBUS_TCP_H
#define MODBUS_TCP_H
#include "modbus.h"
MODBUS_BEGIN_DECLS
#if defined(_WIN32) && !defined(__CYGWIN__)
/* Win32 with MinGW, supplement to <errno.h> */
#include <winsock2.h>
#if !defined(ECONNRESET)
#define ECONNRESET WSAECONNRESET
#endif
#if !defined(ECONNREFUSED)
#define ECONNREFUSED WSAECONNREFUSED
#endif
#if !defined(ETIMEDOUT)
#define ETIMEDOUT WSAETIMEDOUT
#endif
#if !defined(ENOPROTOOPT)
#define ENOPROTOOPT WSAENOPROTOOPT
#endif
#if !defined(EINPROGRESS)
#define EINPROGRESS WSAEINPROGRESS
#endif
#endif
#define MODBUS_TCP_DEFAULT_PORT 502
#define MODBUS_TCP_SLAVE 0xFF
/* Modbus_Application_Protocol_V1_1b.pdf Chapter 4 Section 1 Page 5
* TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes
*/
#define MODBUS_TCP_MAX_ADU_LENGTH 260
MODBUS_API modbus_t *modbus_new_tcp(const char *ip_address, int port);
MODBUS_API int modbus_tcp_listen(modbus_t *ctx, int nb_connection);
MODBUS_API int modbus_tcp_accept(modbus_t *ctx, int *s);
MODBUS_API modbus_t *modbus_new_tcp_pi(const char *node, const char *service);
MODBUS_API int modbus_tcp_pi_listen(modbus_t *ctx, int nb_connection);
MODBUS_API int modbus_tcp_pi_accept(modbus_t *ctx, int *s);
MODBUS_END_DECLS
#endif /* MODBUS_TCP_H */

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/*
* Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef MODBUS_VERSION_H
#define MODBUS_VERSION_H
/* The major version, (1, if %LIBMODBUS_VERSION is 1.2.3) */
#define LIBMODBUS_VERSION_MAJOR (3)
/* The minor version (2, if %LIBMODBUS_VERSION is 1.2.3) */
#define LIBMODBUS_VERSION_MINOR (1)
/* The micro version (3, if %LIBMODBUS_VERSION is 1.2.3) */
#define LIBMODBUS_VERSION_MICRO (10)
/* The full version, like 1.2.3 */
#define LIBMODBUS_VERSION 3.1.10
/* The full version, in string form (suited for string concatenation)
*/
#define LIBMODBUS_VERSION_STRING "3.1.10"
/* Numerically encoded version, eg. v1.2.3 is 0x010203 */
#define LIBMODBUS_VERSION_HEX \
((LIBMODBUS_VERSION_MAJOR << 16) | (LIBMODBUS_VERSION_MINOR << 8) | \
(LIBMODBUS_VERSION_MICRO << 0))
/* Evaluates to True if the version is greater than @major, @minor and @micro
*/
#define LIBMODBUS_VERSION_CHECK(major, minor, micro) \
(LIBMODBUS_VERSION_MAJOR > (major) || \
(LIBMODBUS_VERSION_MAJOR == (major) && LIBMODBUS_VERSION_MINOR > (minor)) || \
(LIBMODBUS_VERSION_MAJOR == (major) && LIBMODBUS_VERSION_MINOR == (minor) && \
LIBMODBUS_VERSION_MICRO >= (micro)))
#endif /* MODBUS_VERSION_H */

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/*
* Copyright © Stéphane Raimbault <stephane.raimbault@gmail.com>
*
* SPDX-License-Identifier: LGPL-2.1-or-later
*/
#ifndef MODBUS_H
#define MODBUS_H
// clang-format off
/* Add this for macros that defined unix flavor */
#if (defined(__unix__) || defined(unix)) && !defined(USG)
# include <sys/param.h>
#endif
#ifndef _MSC_VER
# include <stdint.h>
#else
# include "stdint.h"
#endif
#include "modbus-version.h"
#if defined(_MSC_VER)
# if defined(DLLBUILD)
/* define DLLBUILD when building the DLL */
# define MODBUS_API __declspec(dllexport)
# else
# define MODBUS_API __declspec(dllimport)
# endif
#else
# define MODBUS_API
#endif
#ifdef __cplusplus
# define MODBUS_BEGIN_DECLS extern "C" {
# define MODBUS_END_DECLS }
#else
# define MODBUS_BEGIN_DECLS
# define MODBUS_END_DECLS
#endif
// clang-format on
MODBUS_BEGIN_DECLS
#ifndef FALSE
#define FALSE 0
#endif
#ifndef TRUE
#define TRUE 1
#endif
#ifndef OFF
#define OFF 0
#endif
#ifndef ON
#define ON 1
#endif
/* Modbus function codes */
#define MODBUS_FC_READ_COILS 0x01
#define MODBUS_FC_READ_DISCRETE_INPUTS 0x02
#define MODBUS_FC_READ_HOLDING_REGISTERS 0x03
#define MODBUS_FC_READ_INPUT_REGISTERS 0x04
#define MODBUS_FC_WRITE_SINGLE_COIL 0x05
#define MODBUS_FC_WRITE_SINGLE_REGISTER 0x06
#define MODBUS_FC_READ_EXCEPTION_STATUS 0x07
#define MODBUS_FC_WRITE_MULTIPLE_COILS 0x0F
#define MODBUS_FC_WRITE_MULTIPLE_REGISTERS 0x10
#define MODBUS_FC_REPORT_SLAVE_ID 0x11
#define MODBUS_FC_MASK_WRITE_REGISTER 0x16
#define MODBUS_FC_WRITE_AND_READ_REGISTERS 0x17
#define MODBUS_BROADCAST_ADDRESS 0
/* Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 1 page 12)
* Quantity of Coils to read (2 bytes): 1 to 2000 (0x7D0)
* (chapter 6 section 11 page 29)
* Quantity of Coils to write (2 bytes): 1 to 1968 (0x7B0)
*/
#define MODBUS_MAX_READ_BITS 2000
#define MODBUS_MAX_WRITE_BITS 1968
/* Modbus_Application_Protocol_V1_1b.pdf (chapter 6 section 3 page 15)
* Quantity of Registers to read (2 bytes): 1 to 125 (0x7D)
* (chapter 6 section 12 page 31)
* Quantity of Registers to write (2 bytes) 1 to 123 (0x7B)
* (chapter 6 section 17 page 38)
* Quantity of Registers to write in R/W registers (2 bytes) 1 to 121 (0x79)
*/
#define MODBUS_MAX_READ_REGISTERS 125
#define MODBUS_MAX_WRITE_REGISTERS 123
#define MODBUS_MAX_WR_WRITE_REGISTERS 121
#define MODBUS_MAX_WR_READ_REGISTERS 125
/* The size of the MODBUS PDU is limited by the size constraint inherited from
* the first MODBUS implementation on Serial Line network (max. RS485 ADU = 256
* bytes). Therefore, MODBUS PDU for serial line communication = 256 - Server
* address (1 byte) - CRC (2 bytes) = 253 bytes.
*/
#define MODBUS_MAX_PDU_LENGTH 253
/* Consequently:
* - RTU MODBUS ADU = 253 bytes + Server address (1 byte) + CRC (2 bytes) = 256
* bytes.
* - TCP MODBUS ADU = 253 bytes + MBAP (7 bytes) = 260 bytes.
* so the maximum of both backend in 260 bytes. This size can used to allocate
* an array of bytes to store responses and it will be compatible with the two
* backends.
*/
#define MODBUS_MAX_ADU_LENGTH 260
/* Random number to avoid errno conflicts */
#define MODBUS_ENOBASE 112345678
/* Protocol exceptions */
enum {
MODBUS_EXCEPTION_ILLEGAL_FUNCTION = 0x01,
MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS,
MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE,
MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE,
MODBUS_EXCEPTION_ACKNOWLEDGE,
MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY,
MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE,
MODBUS_EXCEPTION_MEMORY_PARITY,
MODBUS_EXCEPTION_NOT_DEFINED,
MODBUS_EXCEPTION_GATEWAY_PATH,
MODBUS_EXCEPTION_GATEWAY_TARGET,
MODBUS_EXCEPTION_MAX
};
#define EMBXILFUN (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_FUNCTION)
#define EMBXILADD (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_DATA_ADDRESS)
#define EMBXILVAL (MODBUS_ENOBASE + MODBUS_EXCEPTION_ILLEGAL_DATA_VALUE)
#define EMBXSFAIL (MODBUS_ENOBASE + MODBUS_EXCEPTION_SLAVE_OR_SERVER_FAILURE)
#define EMBXACK (MODBUS_ENOBASE + MODBUS_EXCEPTION_ACKNOWLEDGE)
#define EMBXSBUSY (MODBUS_ENOBASE + MODBUS_EXCEPTION_SLAVE_OR_SERVER_BUSY)
#define EMBXNACK (MODBUS_ENOBASE + MODBUS_EXCEPTION_NEGATIVE_ACKNOWLEDGE)
#define EMBXMEMPAR (MODBUS_ENOBASE + MODBUS_EXCEPTION_MEMORY_PARITY)
#define EMBXGPATH (MODBUS_ENOBASE + MODBUS_EXCEPTION_GATEWAY_PATH)
#define EMBXGTAR (MODBUS_ENOBASE + MODBUS_EXCEPTION_GATEWAY_TARGET)
/* Native libmodbus error codes */
#define EMBBADCRC (EMBXGTAR + 1)
#define EMBBADDATA (EMBXGTAR + 2)
#define EMBBADEXC (EMBXGTAR + 3)
#define EMBUNKEXC (EMBXGTAR + 4)
#define EMBMDATA (EMBXGTAR + 5)
#define EMBBADSLAVE (EMBXGTAR + 6)
extern const unsigned int libmodbus_version_major;
extern const unsigned int libmodbus_version_minor;
extern const unsigned int libmodbus_version_micro;
typedef struct _modbus modbus_t;
typedef struct _modbus_mapping_t {
int nb_bits;
int start_bits;
int nb_input_bits;
int start_input_bits;
int nb_input_registers;
int start_input_registers;
int nb_registers;
int start_registers;
uint8_t *tab_bits;
uint8_t *tab_input_bits;
uint16_t *tab_input_registers;
uint16_t *tab_registers;
} modbus_mapping_t;
typedef enum {
MODBUS_ERROR_RECOVERY_NONE = 0,
MODBUS_ERROR_RECOVERY_LINK = (1 << 1),
MODBUS_ERROR_RECOVERY_PROTOCOL = (1 << 2)
} modbus_error_recovery_mode;
typedef enum {
MODBUS_QUIRK_NONE = 0,
MODBUS_QUIRK_MAX_SLAVE = (1 << 1),
MODBUS_QUIRK_REPLY_TO_BROADCAST = (1 << 2),
MODBUS_QUIRK_ALL = 0xFF
} modbus_quirks;
MODBUS_API int modbus_set_slave(modbus_t *ctx, int slave);
MODBUS_API int modbus_get_slave(modbus_t *ctx);
MODBUS_API int modbus_set_error_recovery(modbus_t *ctx,
modbus_error_recovery_mode error_recovery);
MODBUS_API int modbus_set_socket(modbus_t *ctx, int s);
MODBUS_API int modbus_get_socket(modbus_t *ctx);
MODBUS_API int
modbus_get_response_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec);
MODBUS_API int
modbus_set_response_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec);
MODBUS_API int
modbus_get_byte_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec);
MODBUS_API int modbus_set_byte_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec);
MODBUS_API int
modbus_get_indication_timeout(modbus_t *ctx, uint32_t *to_sec, uint32_t *to_usec);
MODBUS_API int
modbus_set_indication_timeout(modbus_t *ctx, uint32_t to_sec, uint32_t to_usec);
MODBUS_API int modbus_get_header_length(modbus_t *ctx);
MODBUS_API int modbus_connect(modbus_t *ctx);
MODBUS_API void modbus_close(modbus_t *ctx);
MODBUS_API void modbus_free(modbus_t *ctx);
MODBUS_API int modbus_flush(modbus_t *ctx);
MODBUS_API int modbus_set_debug(modbus_t *ctx, int flag);
MODBUS_API const char *modbus_strerror(int errnum);
MODBUS_API int modbus_read_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest);
MODBUS_API int modbus_read_input_bits(modbus_t *ctx, int addr, int nb, uint8_t *dest);
MODBUS_API int modbus_read_registers(modbus_t *ctx, int addr, int nb, uint16_t *dest);
MODBUS_API int
modbus_read_input_registers(modbus_t *ctx, int addr, int nb, uint16_t *dest);
MODBUS_API int modbus_write_bit(modbus_t *ctx, int coil_addr, int status);
MODBUS_API int modbus_write_register(modbus_t *ctx, int reg_addr, const uint16_t value);
MODBUS_API int modbus_write_bits(modbus_t *ctx, int addr, int nb, const uint8_t *data);
MODBUS_API int
modbus_write_registers(modbus_t *ctx, int addr, int nb, const uint16_t *data);
MODBUS_API int
modbus_mask_write_register(modbus_t *ctx, int addr, uint16_t and_mask, uint16_t or_mask);
MODBUS_API int modbus_write_and_read_registers(modbus_t *ctx,
int write_addr,
int write_nb,
const uint16_t *src,
int read_addr,
int read_nb,
uint16_t *dest);
MODBUS_API int modbus_report_slave_id(modbus_t *ctx, int max_dest, uint8_t *dest);
MODBUS_API modbus_mapping_t *
modbus_mapping_new_start_address(unsigned int start_bits,
unsigned int nb_bits,
unsigned int start_input_bits,
unsigned int nb_input_bits,
unsigned int start_registers,
unsigned int nb_registers,
unsigned int start_input_registers,
unsigned int nb_input_registers);
MODBUS_API modbus_mapping_t *modbus_mapping_new(int nb_bits,
int nb_input_bits,
int nb_registers,
int nb_input_registers);
MODBUS_API void modbus_mapping_free(modbus_mapping_t *mb_mapping);
MODBUS_API int
modbus_send_raw_request(modbus_t *ctx, const uint8_t *raw_req, int raw_req_length);
MODBUS_API int modbus_receive(modbus_t *ctx, uint8_t *req);
MODBUS_API int modbus_receive_confirmation(modbus_t *ctx, uint8_t *rsp);
MODBUS_API int modbus_reply(modbus_t *ctx,
const uint8_t *req,
int req_length,
modbus_mapping_t *mb_mapping);
MODBUS_API int
modbus_reply_exception(modbus_t *ctx, const uint8_t *req, unsigned int exception_code);
MODBUS_API int modbus_enable_quirks(modbus_t *ctx, unsigned int quirks_mask);
MODBUS_API int modbus_disable_quirks(modbus_t *ctx, unsigned int quirks_mask);
/**
* UTILS FUNCTIONS
**/
#define MODBUS_GET_HIGH_BYTE(data) (((data) >> 8) & 0xFF)
#define MODBUS_GET_LOW_BYTE(data) ((data) &0xFF)
#define MODBUS_GET_INT64_FROM_INT16(tab_int16, index) \
(((int64_t) tab_int16[(index)] << 48) | ((int64_t) tab_int16[(index) + 1] << 32) | \
((int64_t) tab_int16[(index) + 2] << 16) | (int64_t) tab_int16[(index) + 3])
#define MODBUS_GET_INT32_FROM_INT16(tab_int16, index) \
(((int32_t) tab_int16[(index)] << 16) | (int32_t) tab_int16[(index) + 1])
#define MODBUS_GET_INT16_FROM_INT8(tab_int8, index) \
(((int16_t) tab_int8[(index)] << 8) | (int16_t) tab_int8[(index) + 1])
#define MODBUS_SET_INT16_TO_INT8(tab_int8, index, value) \
do { \
((int8_t *) (tab_int8))[(index)] = (int8_t) ((value) >> 8); \
((int8_t *) (tab_int8))[(index) + 1] = (int8_t) (value); \
} while (0)
#define MODBUS_SET_INT32_TO_INT16(tab_int16, index, value) \
do { \
((int16_t *) (tab_int16))[(index)] = (int16_t) ((value) >> 16); \
((int16_t *) (tab_int16))[(index) + 1] = (int16_t) (value); \
} while (0)
#define MODBUS_SET_INT64_TO_INT16(tab_int16, index, value) \
do { \
((int16_t *) (tab_int16))[(index)] = (int16_t) ((value) >> 48); \
((int16_t *) (tab_int16))[(index) + 1] = (int16_t) ((value) >> 32); \
((int16_t *) (tab_int16))[(index) + 2] = (int16_t) ((value) >> 16); \
((int16_t *) (tab_int16))[(index) + 3] = (int16_t) (value); \
} while (0)
MODBUS_API void modbus_set_bits_from_byte(uint8_t *dest, int idx, const uint8_t value);
MODBUS_API void modbus_set_bits_from_bytes(uint8_t *dest,
int idx,
unsigned int nb_bits,
const uint8_t *tab_byte);
MODBUS_API uint8_t modbus_get_byte_from_bits(const uint8_t *src,
int idx,
unsigned int nb_bits);
MODBUS_API float modbus_get_float(const uint16_t *src);
MODBUS_API float modbus_get_float_abcd(const uint16_t *src);
MODBUS_API float modbus_get_float_dcba(const uint16_t *src);
MODBUS_API float modbus_get_float_badc(const uint16_t *src);
MODBUS_API float modbus_get_float_cdab(const uint16_t *src);
MODBUS_API void modbus_set_float(float f, uint16_t *dest);
MODBUS_API void modbus_set_float_abcd(float f, uint16_t *dest);
MODBUS_API void modbus_set_float_dcba(float f, uint16_t *dest);
MODBUS_API void modbus_set_float_badc(float f, uint16_t *dest);
MODBUS_API void modbus_set_float_cdab(float f, uint16_t *dest);
#include "modbus-rtu.h"
#include "modbus-tcp.h"
MODBUS_END_DECLS
#endif /* MODBUS_H */

BIN
lib/libmodbus/lib/libmodbus.so Normal file
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48
test/test.c
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@ -23,7 +23,7 @@ void testCreatThreadTask()
{
printf("testThreadTask\n");
logger_init("./log");
pthread_t tTestLogger, tTestDIDetect, tTestUart, tTestTcp;
pthread_t tTestLogger, tTestDIDetect, tTestUart, tTestTcp, tTest4G, tTestCanSend, tTestCanRecv;
// pthread_create(&tTestLogger, NULL, testLoggerThread, "testLoggerThread");
// pthread_join(tTestLogger, NULL);
// int ret = pthread_create(&tTestDIDetect, NULL, testDIDetectThread, "testDIDetectThread");
@ -31,8 +31,14 @@ void testCreatThreadTask()
// pthread_join(tTestDIDetect, NULL);
// pthread_create(&tTestUart, NULL, testUartThread, "testUartThread");
// pthread_join(tTestUart, NULL);
pthread_create(&tTestTcp, NULL, testTcpThread, "testTcpThread");
pthread_join(tTestTcp, NULL);
// pthread_create(&tTestTcp, NULL, testTcpThread, "testTcpThread");
// pthread_join(tTestTcp, NULL);
// pthread_create(&tTest4G, NULL, test4GThread, "test4GThread");
// pthread_join(tTest4G, NULL);
pthread_create(&tTestCanSend, NULL, testCanSendThread, "testCanSendhread");
pthread_join(tTestCanSend, NULL);
// pthread_create(&tTestCanRecv, NULL, testCanRecvThread, "testCanRecvhread");
// pthread_join(tTestCanRecv, NULL);
logger_destroy();
}
@ -118,11 +124,47 @@ void testUart()
write(devFd, test, strlen(test) + 1);
}
//服务端功能测试
void *testTcpThread(void *arg)
{
logger_level_printf(LOGGER_DEBUG_LEVEL, arg);
printf("TCP Serve Start\n");
// getInterfacesAndIPs();
tcpServe(8888);
}
//客户端功能测试
void *test4GThread(void *arg)
{
logger_level_printf(LOGGER_DEBUG_LEVEL, arg);
printf("client test!\n");
client(INTERFACE, SERVER_ADDR, PORT);
}
//Can接收功能测试
void *testCanRecvThread(void *arg)
{
logger_level_printf(LOGGER_DEBUG_LEVEL, arg);
printf("Can Recv test!\n");
unsigned int canIDs[] = {0x123, 0x456, 0x789};
while(1) {
printf("enter the can recv loop\n");
can_recv(CANNUM_RECV, canIDs, CANIDNUM, CANDLC_RECV);
sleep(1);
}
}
//Can发送功能测试
void *testCanSendThread(void *arg)
{
logger_level_printf(LOGGER_DEBUG_LEVEL, arg);
printf("Can Send test!\n");
unsigned int canID_send = 0x112233;
char * can_send_data = "01 02 03 04 05 06 07 08 09 10";
while(1) {
printf("enter the can send loop\n");
can_send(CANNUM_SEND, canID_send, can_send_data, CANDLC_SEND);
sleep(1);
}
}

6
test/test.h
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@ -1,8 +1,6 @@
#ifndef __TEST_H_
#define __TEST_H_
#define _DEFAULT_SOURCE
void runTest();
void testDI();
void testDO();
@ -11,4 +9,8 @@ void testCreatThreadTask();
void *testLoggerThread(void *arg);
void *testDIDetectThread(void *arg);
void *testUartThread(void *arg);
void *testTcpThread(void *arg);
void *test4GThread(void *arg);
void *testCanSendThread(void *arg);
void *testCanRecvThread(void *arg);
#endif