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base: sani7:feature/modbus-tcp
Branches Tags
sani7:main sani7:experimental/tcp-cmd-interface sani7:experimental/ci_cd sani7:feature/modbus-tcp sani7:experimental/freeRTOS
..
compare: sani7:experimental/ci_cd
Branches Tags
sani7:experimental/tcp-cmd-interface sani7:experimental/ci_cd sani7:feature/modbus-tcp sani7:experimental/freeRTOS sani7:main

5 Commits
feature/mo ... experiment

Author SHA1 Message Date
Sander Speetjens
c2a3e8417a easier linter 2024-08-29 14:35:33 +02:00
Sander Speetjens
92098b6ba1 linter 
add main to exclude
 2023-12-23 23:43:43 +01:00
Sander Speetjens
9e7668727e build env 2023-12-23 23:39:13 +01:00
Sander Speetjens
30cda25039 build scripts 2023-12-23 23:38:43 +01:00
Sander Speetjens
f65f70d5c3 linter 2023-12-23 22:49:28 +01:00
8 changed files with 188 additions and 559 deletions
Expand all files Collapse all files

11
.lint/exclude Normal file
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project/Core/Inc/main.h
project/Core/Inc/stm32f7xx_hal_conf.h
project/Core/Inc/stm32f7xx_it.h
project/Core/Inc/fsdata_custom.c
project/Core/Src/main.c
project/Core/Src/stm32f7xx_hal_msp.c
project/Core/Src/syscalls.c
project/Core/Src/sysmem.c
project/Core/Src/system_stm32f7xx.c
project/Core/Src/stm32f7xx_it.c
mkllfs/build/CMakeFiles/3.27.7/CompilerIdC/CMakeCCompilerId.c

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.lint/search Normal file
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project/Core/
mkllfs
tests/
Applications/Qt-application_for_UDP_broadcast/

8
build_app.sh Normal file
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#!/bin/bash
cd project/
rm -fr build/*
cmake -B build/ -G Ninja
ninja -C build/
cd ../

7
build_tests.sh Normal file
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#!/bin/bash
rm -fr build/*
cmake -B build/ -G Ninja
ninja -C build/
ctest --test-dir build

8
docker-builder/Dockerfile Normal file
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FROM fedora:39
RUN dnf update -y
RUN dnf install -y git
RUN dnf install -y ninja-build make cmake gcc-c++ gcc clang-tools-extra clang-devel clang
RUN dnf install -y gtest-devel gtest
RUN dnf install -y arm-none-eabi-gcc-cs arm-none-eabi-gcc-cs-c++ arm-none-eabi-binutils-cs.x86_64 arm-none-eabi-newlib.noarch
ENTRYPOINT [ "/bin/bash" ]

15
lint.sh Normal file
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#!/bin/bash
if (( $# < 1 )); then
>&2 echo "Illegal number of parameters"
exit 1
fi
# save unsaved work
git stash --include-untracked
clang-format -i "$@"
git add -A && git commit -m "Lint"
git stash pop

19
project/Core/Inc/modbus_tcp.h
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@@ -1,20 +1,27 @@
/** /**
* @file modbus_tcp.h * @file modbus_tcp.h
* @brief TCP Modbus server *
* @date Nov 29, 2023 * @brief TCP Modbus handler
* @date Nov 6, 2023
* @author Obe * @author Obe
* @author Lorenz C.
*/ */
#ifndef INC_MODBUS_H_ #ifndef INC_MODBUS_H_
#define INC_MODBUS_H_ #define INC_MODBUS_H_
#define MODBUS_TCP_PORT 502 #define MODBUSPORT 502 // 502 is the default
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <tcp.h>
#include "lcd_api.h"
#include "llfs.h"
/** /**
* @brief Initializes the modbus tcp server * @fn void modbus_init
* @brief Initializes the modbus tcp
*/ */
void modbus_tcp_init(void); void modbus_init(void);
#endif /* INC_MODBUS_H_ */ #endif /* INC_MODBUS_H_ */

675
project/Core/Src/modbus_tcp.c
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@@ -1,594 +1,163 @@
/** /**
* @file modbus_tcp.c * @file modbus_tcp.c
* @brief TCP Modbus server *
* @date Nov 29, 2023 * @brief TCP Modbus handler
* @date Nov 6, 2023
* @author Obe * @author Obe
* @author Lorenz C.
*/ */
#include <stdint.h> // Includes
#include <stdio.h>
#include <string.h>
#include <tcp.h>
#include "lcd_api.h"
#include "llfs.h"
#define LOGGER_LEVEL_ALL
#include "log.h"
#include "modbus_tcp.h" #include "modbus_tcp.h"
#include "log.h"
// TCP server constants // Defines
#define TCP_POLL_INTERVAL 10 // About 5 seconds #define MAX_REG REG_LENGTH
#define EXTENSION_LENGTH 4
#define TEXT_LENGTH 200
#define MULTIPLE_REG 0x10
#define REG_LENGTH 428
#define START_DATA 28
#define MODBUS_MODE 7
// Modbus constants (See Modbus_Application_Protocol_V1_1b3 and Modbus_Messaging_Implementation_Guide_V1_0b) #define REG_COLOR_B_RED 14
#define PDU_MAX_LENGTH 253 #define REG_COLOR_B_GREEN 16
#define ADU_MAX_LENGTH 260 #define REG_COLOR_B_BLUE 18
#define MBAP_HEADER_LENGTH 7 #define REG_COLOR_F_RED 20
#define PROTOCOL_ID_MODBUS 0x0000 #define REG_COLOR_F_GREEN 22
#define REG_COLOR_F_BLUE 24
#define WRITE_MULTIPLE_REG_REQ_MIN_LENGTH 5 #define REG_IMAGE_NR 26
#define WRITE_MULTIPLE_REG_RSP_LENGTH 4
#define WRITE_MULTIPLE_REG_QUANTITY_MIN 0x0001
#define WRITE_MULTIPLE_REG_QUANTITY_MAX 0x007B // See m
#define EXCEPTION_OFFSET 0x80 // Global variables
static char* TAG = "Modbus_TCP"; // Tag used in logs
// Application specific constants static struct tcp_pcb* modbus_pcb;
#define REGISTER_COUNT 208 uint8_t registers[MAX_REG];
#define REG_ADDR_BG_COLOR_RED 0x0000 // 8-bit red background color
#define REG_ADDR_BG_COLOR_GREEN 0x0001 // 8-bit green background color // Functions
#define REG_ADDR_BG_COLOR_BLUE 0x0002 // 8-bit blue background colo static err_t modbus_incoming_data(void* arg, struct tcp_pcb* pcb, struct pbuf* p, err_t err);
#define REG_ADDR_FG_COLOR_RED 0x0003 // 8-bit red text color static err_t modbus_accept(void* arg, struct tcp_pcb* pcb, err_t err);
#define REG_ADDR_FG_COLOR_GREEN 0x0004 // 8-bit green text color
#define REG_ADDR_FG_COLOR_BLUE 0x0005 // 8-bit blue text color
#define REG_ADDR_IMAGE_NUM 0x0006 // 16-bit image number
#define REG_ADDR_TEXT 0x0007 // Start of text registers (1 reg / ascii character, null terminated)
#define REG_SIZE_TEXT 0x00C8 // 200 registers / characters
#define TEXT_POS_X 10
#define TEXT_POS_Y 10
#define IMG_POS_X 0
#define IMG_POS_Y 75
/** /**
* @brief Error codes for internal use in the modbus tcp server. * @fn static err_t modbus_incoming_data(void *arg, struct tcp_pcb *pcb, struct pbuf *p, err_t err)
* @brief Function that's called when there is a new request on port 502.
* It handles the incoming data from QModMaster
*/ */
typedef enum { static err_t modbus_incoming_data(void* arg, struct tcp_pcb* pcb, struct pbuf* p, err_t err) {
MB_TCP_ERR_OK, uint8_t counter;
MB_TCP_ERR_FAILED, char text[TEXT_LENGTH];
MB_TCP_ERR_INVALID_ADU, uint32_t result_background = 0xff000000;
MB_TCP_ERR_INVALID_PROTOCOL_ID, uint32_t text_foreground_color = 0xff000000;
MB_TCP_ERR_INVALID_LENGTH,
MB_TCP_ERR_MEM,
} mb_tcp_err_t;
/** LWIP_UNUSED_ARG(arg); // This is used to prevent a warning
* @brief Modbus function codes
*/
enum {
WRITE_MULTIPLE_REGISTERS = 0x10,
};
/** // Putting underscores in the whole array
* @brief Modbus exception codes memset(text, '_', TEXT_LENGTH);
*/ text[TEXT_LENGTH - 1] = '\0';
typedef enum {
ILLEGAL_FUNCTION = 0x01,
ILLEGAL_DATA_ADDRESS = 0x02,
ILLEGAL_DATA_VALUE = 0x03,
SERVER_DEVICE_FAILURE = 0x04,
ACKNOWLEDGE = 0x05,
SERVER_DEVICE_BUSY = 0x06,
MEMORY_PARITY_ERROR = 0x08,
GATEWAY_PATH_UNAVAILABLE = 0x0A,
GATEWAY_TARGET_DEVICE_FAILED_TO_RESPOND = 0x0B,
} mb_exception_code_t;
/** if (p != NULL) {
* @brief Modbus TCP Application Data Unit (ADU) LOG_INFO(TAG, "data is valid\n");
*/ // Process the modbus data
typedef struct { tcp_recved(pcb, p->tot_len);
struct {
uint16_t transaction_id;
uint16_t protocol_id;
uint16_t length;
uint8_t unit_id;
} mbap_header;
uint8_t function_code;
uint8_t* data;
} modbus_tcp_t;
/** // Putting the buffer in the register array
* @brief The data fields of the write multiple registers request PDU. for (uint16_t i = 0; i < p->tot_len && i < MAX_REG; i++) {
* @note The data field is not included in the struct. registers[i] = ((uint8_t*)p->payload)[i];
*/
typedef struct {
uint16_t start_address;
uint16_t quantity;
uint8_t byte_count;
} write_multiple_reg_req_t;
// Static global variables
static char* TAG = "Modbus_TCP"; // Tag used in logs
static uint16_t registers[REGISTER_COUNT]; // The modbus registers
// Function prototypes
static err_t tcp_accept_cb(void* arg, struct tcp_pcb* new_pcb, err_t err);
static void tcp_err_cb(void* arg, err_t err);
static err_t tcp_poll_cb(void* arg, struct tcp_pcb* pcb);
static err_t tcp_sent_cb(void* arg, struct tcp_pcb* pcb, u16_t len);
static err_t tcp_recv_cb(void* arg, struct tcp_pcb* pcb, struct pbuf* p, err_t err);
static mb_tcp_err_t parse_data_to_adu(modbus_tcp_t* adu, uint8_t* data, size_t length);
static mb_tcp_err_t handle_modbus_request(modbus_tcp_t* req_adu, modbus_tcp_t* rsp_adu);
static mb_tcp_err_t send_modbus_response(struct tcp_pcb* pcb, modbus_tcp_t* rsp_adu);
static void handle_mb_func_write_multiple_req(modbus_tcp_t* req_adu, modbus_tcp_t* rsp_adu);
static void generate_modbus_exception_rsp(modbus_tcp_t* req_adu,
modbus_tcp_t* rsp_adu,
mb_exception_code_t exception_code);
static void modbus_update_app(void);
static const char* img_num_to_filename(uint16_t img_num);
static void dump_adu(modbus_tcp_t* adu);
void modbus_tcp_init(void) {
struct tcp_pcb* modbus_pcb;
// Initialize the modbus tcp pcb
modbus_pcb = tcp_new();
if (modbus_pcb == NULL) {
LOG_CRIT(TAG, "Failed to create modbus pcb");
return;
}
// Listen on all interfaces (port 502)
if (tcp_bind(modbus_pcb, IP_ADDR_ANY, MODBUS_TCP_PORT) != ERR_OK) {
LOG_CRIT(TAG, "Failed to bind modbus pcb");
return;
}
// Set the state of the pcb to LISTEN
modbus_pcb = tcp_listen(modbus_pcb);
if (modbus_pcb == NULL) {
LOG_CRIT(TAG, "Failed to listen on modbus pcb");
return;
}
// Set the callback function for incoming connections
tcp_accept(modbus_pcb, tcp_accept_cb);
}
/**
* @brief Callback function for incoming connections.
*
* @param arg not used
* @param new_pcb
* @param err
* @return
*/
static err_t tcp_accept_cb(void* arg, struct tcp_pcb* new_pcb, err_t err) {
LOG_DEBUG(TAG, "TCP accept");
if (err != ERR_OK) {
LOG_WARN(TAG, "TCP accept failed with error(%d): %s", err, lwip_strerr(err));
return err;
}
// Set the callback functions for the new pcb
tcp_recv(new_pcb, tcp_recv_cb);
tcp_sent(new_pcb, tcp_sent_cb);
tcp_err(new_pcb, tcp_err_cb);
tcp_poll(new_pcb, tcp_poll_cb, TCP_POLL_INTERVAL);
return ERR_OK;
}
/**
* @brief Callback function for tcp errors.
*
* @param arg
* @param err
*/
static void tcp_err_cb(void* arg, err_t err) {
LOG_WARN(TAG, "TCP error(%d): %s", err, lwip_strerr(err));
}
/**
* @brief Callback function for tcp poll.
*
* This function is called periodically to check if the connection is still alive.
* The interval is set by TCP_POLL_INTERVAL.
*
* @param arg
* @param pcb
* @return ERR_OK
*/
static err_t tcp_poll_cb(void* arg, struct tcp_pcb* pcb) {
LOG_DEBUG(TAG, "TCP poll");
return ERR_OK;
}
/**
* @brief Callback function for tcp sent.
*
* Called when sent data has been acknowledged by the remote side.
*
* @param arg
* @param pcb
* @param len
* @return ERR_OK
*/
static err_t tcp_sent_cb(void* arg, struct tcp_pcb* pcb, u16_t len) {
LOG_DEBUG(TAG, "TCP data acknowledged");
return ERR_OK;
}
/**
* @brief Callback function for tcp receive.
*
* Called when data has been received.
*
* @param arg
* @param pcb
* @param p
* @param err
* @return
*/
static err_t tcp_recv_cb(void* arg, struct tcp_pcb* pcb, struct pbuf* p, err_t err) {
modbus_tcp_t mb_req_adu; // Modbus request adu to store the received data in
LOG_DEBUG(TAG, "TCP data received");
// Connection closed?
if (p == NULL && err == ERR_OK) {
LOG_INFO(TAG, "Remote closed connection");
return tcp_close(pcb);
}
if (err != ERR_OK) {
LOG_WARN(TAG, "TCP data received with error(%d): %s", err, lwip_strerr(err));
return ERR_OK;
}
// Copy the data from the pbuf to the modbus request adu
mb_tcp_err_t mb_err = parse_data_to_adu(&mb_req_adu, p->payload, p->len);
if (mb_err != MB_TCP_ERR_OK) {
LOG_WARN(TAG, "Invalid modbus adu received");
goto err_adu_read;
}
// Handle the modbus request
modbus_tcp_t mb_rsp_adu;
handle_modbus_request(&mb_req_adu, &mb_rsp_adu);
// Tell the tcp stack that we have taken the data
tcp_recved(pcb, p->tot_len);
// Send the modbus response
if (send_modbus_response(pcb, &mb_rsp_adu) != MB_TCP_ERR_OK) {
LOG_WARN(TAG, "Failed to send modbus response");
goto err_rsp_fail;
}
err_rsp_fail:
free(mb_rsp_adu.data);
err_adu_read:
pbuf_free(p);
return ERR_OK;
}
/**
* @brief Parses the given data into the tcp ADU struct.
*
* This function takes the raw data received and parses it into a modbus TCP Application Data Unit (ADU).
*
* @note The data field of the ADU still points to the raw data, so it must stay valid until the ADU is no longer
* needed.
* @todo Store the data in the ADU struct instead of just pointing to it?
*
* @param[out] adu Pointer to a modbus_tcp_t structure where the parsed ADU will be stored.
* @param[in] data Pointer to the raw data received from the modbus TCP server.
* @param[in] length Length of the raw data.
*/
static mb_tcp_err_t parse_data_to_adu(modbus_tcp_t* adu, uint8_t* data, size_t length) {
if (length > ADU_MAX_LENGTH) {
LOG_DEBUG(TAG, "Invalid adu length: %d, expected max %d", length, ADU_MAX_LENGTH);
return MB_TCP_ERR_INVALID_ADU;
}
if (length < MBAP_HEADER_LENGTH) {
LOG_DEBUG(TAG, "Invalid adu length: %d, expected at least %d", length, MBAP_HEADER_LENGTH);
return MB_TCP_ERR_INVALID_ADU;
}
// The adu struct is a one-to-one map of the modbus adu, so we can just copy the data
// But modbus fields are big endian, so we need to convert them to little endian
adu->mbap_header.transaction_id = (data[0] << 8) | data[1];
adu->mbap_header.protocol_id = (data[2] << 8) | data[3];
adu->mbap_header.length = (data[4] << 8) | data[5];
adu->mbap_header.unit_id = data[6];
adu->function_code = data[7];
adu->data = &data[8]; // Don't change the data endianness yet, since it's structure is function dependent
// Correct protocol id?
if (adu->mbap_header.protocol_id != PROTOCOL_ID_MODBUS) {
LOG_DEBUG(TAG, "Invalid protocol id: %d, expected %d", adu->mbap_header.protocol_id, PROTOCOL_ID_MODBUS);
return MB_TCP_ERR_INVALID_PROTOCOL_ID;
}
// Length matches length field?
if (adu->mbap_header.length != length - MBAP_HEADER_LENGTH + 1) {
LOG_DEBUG(TAG, "Length mismatch: %d, expected %d", adu->mbap_header.length, length - MBAP_HEADER_LENGTH + 1);
return MB_TCP_ERR_INVALID_ADU;
}
return MB_TCP_ERR_OK;
}
/**
* @brief Handles the given modbus request and generates a response.
*
* Handles the given modbus request and generates a response, either a normal response or an exception response.
* The response data field is allocated and must be freed by the caller.
*
* @param[in] req_adu Pointer to the modbus request adu.
* @param[out] rsp_adu Pointer to the modbus response adu.
* @return MB_TCP_ERR_OK if the request was handled successfully, otherwise an error code.
*/
static mb_tcp_err_t handle_modbus_request(modbus_tcp_t* req_adu, modbus_tcp_t* rsp_adu) {
// Check if the function code is supported
switch (req_adu->function_code) {
case WRITE_MULTIPLE_REGISTERS: {
LOG_INFO(TAG, "Write multiple registers request received");
handle_mb_func_write_multiple_req(req_adu, rsp_adu);
break;
} }
default: {
LOG_WARN(TAG, "Unsupported function code: %d", req_adu->function_code);
generate_modbus_exception_rsp(req_adu, rsp_adu, ILLEGAL_FUNCTION);
}
}
return MB_TCP_ERR_OK; if (registers[MODBUS_MODE] == MULTIPLE_REG) {
} // Check if it's a Modbus Write Multiple Registers request (0x10)
LOG_INFO(TAG, "in writing multiple register mode\n");
/** LOG_INFO(TAG, "Background R:%d G:%d B:%d\nForeground: R:%d G:%d B:%d\nImage Nr: %d",
* @brief Generates a modbus exception response. registers[REG_COLOR_B_RED], registers[REG_COLOR_B_GREEN], registers[REG_COLOR_B_BLUE],
* registers[REG_COLOR_F_RED], registers[REG_COLOR_F_GREEN], registers[REG_COLOR_F_BLUE],
* Generates a modbus exception response based on the given request adu and exception code. registers[REG_IMAGE_NR]);
* The response data field is allocated and must be freed by the caller.
*
* @param[in] req_adu The request adu to base the response adu on.
* @param[out] rsp_adu The response adu to fill.
* @param[in] exception_code The exception code to use.
*/
static void generate_modbus_exception_rsp(modbus_tcp_t* req_adu,
modbus_tcp_t* rsp_adu,
mb_exception_code_t exception_code) {
uint16_t pdu_length = 2; // Function code + exception code
// Fill the response adu based on the request adu counter = 0;
rsp_adu->mbap_header.transaction_id = req_adu->mbap_header.transaction_id; for (int i = START_DATA; i < REG_LENGTH; i++) {
rsp_adu->mbap_header.protocol_id = PROTOCOL_ID_MODBUS; if (i % 2 == 0) {
rsp_adu->mbap_header.length = 1 + pdu_length; // 1 for the unit id text[counter] = registers[i];
rsp_adu->mbap_header.unit_id = req_adu->mbap_header.unit_id; counter++;
rsp_adu->function_code = req_adu->function_code + EXCEPTION_OFFSET; }
}
// Allocate memory for the exception code result_background |= ((uint32_t)registers[REG_COLOR_B_RED]) << 16;
rsp_adu->data = malloc(1); result_background |= ((uint32_t)registers[REG_COLOR_B_GREEN]) << 8;
if (rsp_adu->data == NULL) { result_background |= (uint32_t)registers[REG_COLOR_B_BLUE];
LOG_CRIT(TAG, "Failed to allocate memory for exception code");
return;
}
rsp_adu->data[0] = exception_code; text_foreground_color |= ((uint32_t)registers[REG_COLOR_F_RED]) << 16;
} text_foreground_color |= ((uint32_t)registers[REG_COLOR_F_GREEN]) << 8;
text_foreground_color |= (uint32_t)registers[REG_COLOR_F_BLUE];
/** // Processing the image index
* @brief Sends the given modbus response. size_t number_of_files = llfs_file_count(); // How many files that there are
*
* Sends the given modbus response to the given tcp pcb.
* A copy of the response data is made, so the response adu data can be freed after this function returns.
*
* @param[in,out] pcb The tcp pcb to send the response to (same as the pcb used to receive the request).
* @param[in] rsp_adu The response adu to send.
* @return MB_TCP_ERR_OK if the response was sent successfully, otherwise an error code.
*/
static mb_tcp_err_t send_modbus_response(struct tcp_pcb* pcb, modbus_tcp_t* rsp_adu) {
uint16_t pdu_length = rsp_adu->mbap_header.length - 1; // Length of the data + 1 (for the unit id)
uint16_t adu_length = MBAP_HEADER_LENGTH + pdu_length;
uint8_t data[adu_length];
err_t err;
if (pdu_length > PDU_MAX_LENGTH) { if (number_of_files > 0) {
LOG_WARN(TAG, "Invalid pdu length: %d, expected less than %d", pdu_length, PDU_MAX_LENGTH); llfs_file_t file_list[number_of_files];
return MB_TCP_ERR_INVALID_ADU; number_of_files = llfs_file_list(file_list, number_of_files, NULL);
}
LOG_DEBUG(TAG, "Sending modbus response with length: %d", adu_length); lcd_clear_text();
lcd_clear_images();
lcd_stop_all_gifs();
// Serialize the adu (little endian -> big endian) lcd_display_text(text, 10, 10, text_foreground_color, result_background, LCD_FONT24);
data[0] = rsp_adu->mbap_header.transaction_id >> 8;
data[1] = rsp_adu->mbap_header.transaction_id & 0xFF;
data[2] = rsp_adu->mbap_header.protocol_id >> 8;
data[3] = rsp_adu->mbap_header.protocol_id & 0xFF;
data[4] = rsp_adu->mbap_header.length >> 8;
data[5] = rsp_adu->mbap_header.length & 0xFF;
data[6] = rsp_adu->mbap_header.unit_id;
data[7] = rsp_adu->function_code;
// The data should already be in big endian, so we can just copy it if (number_of_files < registers[REG_IMAGE_NR]) {
memcpy(&data[8], rsp_adu->data, pdu_length - 1); // -1 function code is also in the pdu lcd_display_text("FILE NOT IN FILESYSTEM", 10, 75, LCD_RED, LCD_BLACK, LCD_FONT24);
} else {
const char* ext = strrchr(file_list[registers[REG_IMAGE_NR] - 1].name, '.');
if (ext == NULL) {
LOG_CRIT(TAG, "No valid extension found");
} else if (strcmp(ext, ".gif") == 0) {
lcd_draw_gif_from_llfs_file(&file_list[registers[REG_IMAGE_NR] - 1], 0, 75);
} else if (strcmp(ext, ".bmp") == 0) {
lcd_draw_img_from_llfs_file(&file_list[registers[REG_IMAGE_NR] - 1], 0, 75);
}
}
}
if (adu_length > tcp_sndbuf(pcb)) {
LOG_WARN(TAG, "Not enough space in tcp buffer to send modbus response");
return MB_TCP_ERR_MEM;
}
// Send the data
err = tcp_write(pcb, data, adu_length, TCP_WRITE_FLAG_COPY);
if (err != ERR_OK) {
LOG_WARN(TAG, "Failed to send modbus response with error(%d): %s", err, lwip_strerr(err));
return MB_TCP_ERR_FAILED;
}
return MB_TCP_ERR_OK;
}
/**
* @brief Handles a write multiple registers request.
*
* Handles a write multiple registers request and generates a response adu accordingly.
*
* @param[in] req_adu The request adu to handle.
* @param[out] rsp_adu The response adu to fill.
*/
static void handle_mb_func_write_multiple_req(modbus_tcp_t* req_adu, modbus_tcp_t* rsp_adu) {
write_multiple_reg_req_t req_pdu;
uint16_t req_data_length = req_adu->mbap_header.length - 2; // -2 for the unit id and function code
// Request at least enough data for the minimum length?
if (req_data_length < WRITE_MULTIPLE_REG_REQ_MIN_LENGTH) {
LOG_WARN(TAG, "Invalid write multiple registers request length, not enough data for minimum length");
generate_modbus_exception_rsp(req_adu, rsp_adu, ILLEGAL_DATA_VALUE);
return;
}
// Map the data to the write multiple registers request struct and convert it to little endian
req_pdu.start_address = (req_adu->data[0] << 8) | req_adu->data[1];
req_pdu.quantity = (req_adu->data[2] << 8) | req_adu->data[3];
req_pdu.byte_count = req_adu->data[4];
// Request the correct length? Do the byte and register count match?
if (req_data_length != WRITE_MULTIPLE_REG_REQ_MIN_LENGTH + req_pdu.byte_count
|| req_pdu.quantity < WRITE_MULTIPLE_REG_QUANTITY_MIN || req_pdu.quantity > WRITE_MULTIPLE_REG_QUANTITY_MAX
|| req_pdu.quantity * 2 != req_pdu.byte_count) {
LOG_WARN(TAG, "Invalid write multiple registers request length");
generate_modbus_exception_rsp(req_adu, rsp_adu, ILLEGAL_DATA_VALUE);
return;
}
// Invalid start address or quantity?
if (req_pdu.start_address + req_pdu.quantity >= REGISTER_COUNT) {
LOG_DEBUG(TAG, "Invalid start address or quantity");
generate_modbus_exception_rsp(req_adu, rsp_adu, ILLEGAL_DATA_ADDRESS);
return;
}
// Convert the data to register values (big endian -> little endian)
for (uint16_t i = 0; i < req_pdu.quantity; i++) {
registers[req_pdu.start_address + i] = (req_adu->data[WRITE_MULTIPLE_REG_REQ_MIN_LENGTH + i * 2] << 8)
| req_adu->data[WRITE_MULTIPLE_REG_REQ_MIN_LENGTH + 1 + i * 2];
}
// Update the application with the new register values
modbus_update_app(); // TODO: do this when the request is handled successfully, to avoid timeouts.
// Fill the response adu based on the request adu
rsp_adu->mbap_header.transaction_id = req_adu->mbap_header.transaction_id;
rsp_adu->mbap_header.protocol_id = PROTOCOL_ID_MODBUS;
rsp_adu->mbap_header.length = 2 + WRITE_MULTIPLE_REG_RSP_LENGTH; // 2 for the unit id and function code
rsp_adu->mbap_header.unit_id = req_adu->mbap_header.unit_id;
rsp_adu->function_code = req_adu->function_code;
// Allocate memory for the response data
rsp_adu->data = malloc(WRITE_MULTIPLE_REG_RSP_LENGTH);
if (rsp_adu->data == NULL) {
LOG_CRIT(TAG, "Failed to allocate memory for response data");
return;
}
// The response data are the same 4 bytes as the request data
memcpy(rsp_adu->data, req_adu->data, WRITE_MULTIPLE_REG_RSP_LENGTH);
}
/**
* @brief Dumps the given ADU to the log.
*
* @param[in] adu Pointer to the ADU to dump.
*/
static void dump_adu(modbus_tcp_t* adu) {
LOG_DEBUG(TAG, "Modbus adu:");
LOG_DEBUG(TAG, " Transaction id: %d", adu->mbap_header.transaction_id);
LOG_DEBUG(TAG, " Protocol id: %d", adu->mbap_header.protocol_id);
LOG_DEBUG(TAG, " Length: %d", adu->mbap_header.length);
LOG_DEBUG(TAG, " Unit id: %d", adu->mbap_header.unit_id);
LOG_DEBUG(TAG, " Function code: %d", adu->function_code);
LOG_DEBUG(TAG, " Data: ");
for (size_t i = 0; i < adu->mbap_header.length - 2; i++) {
LOG_DEBUG(TAG, " [%d]:%d", i, adu->data[i]);
}
}
/**
* @brief Update the application with the new register values
*/
static void modbus_update_app(void) {
uint32_t text_color; // Text color in ARGB888
uint32_t bg_color; // Background color in ARGB888
char text[REG_SIZE_TEXT];
const char* filename;
LOG_INFO(TAG, "Updating application with new register values");
// Get the colors from the registers
text_color = 0xFF000000 | (registers[REG_ADDR_FG_COLOR_RED] << 16) | (registers[REG_ADDR_FG_COLOR_GREEN] << 8)
| registers[REG_ADDR_FG_COLOR_BLUE];
bg_color = 0xFF000000 | (registers[REG_ADDR_BG_COLOR_RED] << 16) | (registers[REG_ADDR_BG_COLOR_GREEN] << 8)
| registers[REG_ADDR_BG_COLOR_BLUE];
// Get the text from the registers
for (int i = 0; i < REG_SIZE_TEXT; i++) {
text[i] = registers[REG_ADDR_TEXT + i];
}
// Get the filename based on the image number register
filename = img_num_to_filename(registers[REG_ADDR_IMAGE_NUM]);
// Clear the screen
lcd_clear_images();
lcd_clear_text();
// Display the text
lcd_display_text(text, TEXT_POS_X, TEXT_POS_Y, text_color, bg_color, LCD_FONT24);
// Try to display the image
if (filename != NULL) {
LOG_DEBUG(TAG, "Displaying image: %s", filename);
char* ext = strrchr(filename, '.');
if (ext == NULL) {
LOG_WARN(TAG, "File %s has no valid extension", filename);
} else if (strcmp(ext, ".gif") == 0) {
lcd_draw_gif_from_fs(filename, IMG_POS_X, IMG_POS_Y);
} else if (strcmp(ext, ".bmp") == 0) {
lcd_draw_img_from_fs(filename, IMG_POS_X, IMG_POS_Y);
} else { } else {
LOG_WARN(TAG, "File %s is not a valid img", filename); LOG_INFO(TAG, "not in writing multiple register mode!!!\n");
} }
} else { } else if (err == ERR_OK) {
LOG_WARN(TAG, "No image found"); tcp_close(pcb); // When everything was ok close the TCP connection
} }
return ERR_OK;
} }
/** /**
* @brief Convert the image number register to a filename * @fn static err_t modbus_accept(void *arg, struct tcp_pcb *pcb, err_t err)
* * @brief Sets the function that's being called when theirs incoming data
* Converts the image number register to a filename by looking up the file in the filesystem.
*
* @note This function doesn't check if the file is a valid image file.
* So the image number is more a file number.
*
* @param[in] img_num The image number register
* @return The filename of the image or NULL if no file is found
*/ */
static const char* img_num_to_filename(uint16_t img_num) { static err_t modbus_accept(void* arg, struct tcp_pcb* pcb, err_t err) {
size_t number_of_files = llfs_file_count(); LWIP_UNUSED_ARG(arg);
LWIP_UNUSED_ARG(err);
LOG_DEBUG(TAG, "Converting image number %d to filename, %d files found", img_num, number_of_files); // Sets the priority of a connection.
tcp_setprio(pcb, TCP_PRIO_MIN);
if (number_of_files == 0 || img_num > number_of_files) { // Sets which function is being called when new data arrives
LOG_DEBUG(TAG, "No files found or invalid image number: %d", img_num); tcp_recv(pcb, modbus_incoming_data);
return NULL;
}
llfs_file_t files[number_of_files]; return ERR_OK;
llfs_file_list(files, number_of_files, NULL); }
return files[img_num].name;
} /**
* @fn void modbus_init
* @brief Initializes the modbus tcp
*/
void modbus_init(void) {
LOG_INFO(TAG, "Initializing");
// Creating a new tcp pcb
modbus_pcb = tcp_new();
// Bind the modbus_pcb to port 502
tcp_bind(modbus_pcb, IP_ADDR_ANY, MODBUSPORT);
modbus_pcb = tcp_listen(modbus_pcb);
// Set callback function for incoming connections
tcp_accept(modbus_pcb, modbus_accept);
LOG_INFO(TAG, "initialized");
}