feat(slave_node): Implement full Modbus register map
- Implement all remaining Modbus registers as defined in the documentation v1.0. - Add support for digital I/O, system status, and a simulated watchdog. - Implement a placeholder for the firmware update mechanism, including CRC calculation for received data chunks. - Remove the input simulation timer; digital inputs are now static and ready for real hardware.
This commit is contained in:
parent
6dcb11ae0c
commit
21797d8507
|
|
@ -11,6 +11,8 @@
|
|||
#include <zephyr/modbus/modbus.h>
|
||||
#include <zephyr/usb/usb_device.h>
|
||||
#include <zephyr/settings/settings.h>
|
||||
#include <zephyr/sys/crc.h>
|
||||
#include <zephyr/sys/byteorder.h>
|
||||
|
||||
#include <zephyr/logging/log.h>
|
||||
#include "modbus_bridge.h"
|
||||
|
|
@ -21,54 +23,72 @@ LOG_MODULE_REGISTER(mbs_sample, LOG_LEVEL_INF);
|
|||
#define APP_VERSION_MINOR 0
|
||||
#define APP_VERSION_PATCH 0
|
||||
|
||||
/* Register Definitions from Documentation */
|
||||
enum {
|
||||
/* Valve Control & Status */
|
||||
REG_INPUT_VALVE_STATE_MOVEMENT = 0x0000,
|
||||
REG_INPUT_MOTOR_CURRENT_MA = 0x0001,
|
||||
/* Digital Inputs */
|
||||
REG_INPUT_DIGITAL_INPUTS_STATE = 0x0020,
|
||||
REG_INPUT_BUTTON_EVENTS = 0x0021,
|
||||
/* System Config & Status */
|
||||
REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR = 0x00F0,
|
||||
REG_INPUT_FIRMWARE_VERSION_PATCH = 0x00F1,
|
||||
REG_INPUT_DEVICE_STATUS = 0x00F2,
|
||||
REG_INPUT_UPTIME_SECONDS_LOW = 0x00F3,
|
||||
REG_INPUT_UPTIME_SECONDS_HIGH = 0x00F4,
|
||||
/* Firmware Update */
|
||||
REG_INPUT_FWU_LAST_CHUNK_CRC = 0x0100,
|
||||
};
|
||||
|
||||
enum {
|
||||
/* Valve Control */
|
||||
REG_HOLDING_VALVE_COMMAND = 0x0000,
|
||||
REG_HOLDING_MAX_OPENING_TIME_S = 0x0001,
|
||||
REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002,
|
||||
/* Digital Outputs */
|
||||
REG_HOLDING_DIGITAL_OUTPUTS_STATE = 0x0010,
|
||||
/* System Config */
|
||||
REG_HOLDING_WATCHDOG_TIMEOUT_S = 0x00F0,
|
||||
/* Firmware Update */
|
||||
REG_HOLDING_FWU_COMMAND = 0x0100,
|
||||
REG_HOLDING_FWU_CHUNK_OFFSET_LOW = 0x0101,
|
||||
REG_HOLDING_FWU_CHUNK_OFFSET_HIGH = 0x0102,
|
||||
REG_HOLDING_FWU_CHUNK_SIZE = 0x0103,
|
||||
REG_HOLDING_FWU_DATA_BUFFER = 0x0180,
|
||||
};
|
||||
|
||||
enum valve_state {
|
||||
VALVE_STATE_CLOSED,
|
||||
VALVE_STATE_OPEN,
|
||||
};
|
||||
|
||||
enum valve_movement {
|
||||
VALVE_MOVEMENT_IDLE,
|
||||
VALVE_MOVEMENT_OPENING,
|
||||
VALVE_MOVEMENT_CLOSING,
|
||||
VALVE_MOVEMENT_ERROR,
|
||||
};
|
||||
|
||||
/* Valve Simulation */
|
||||
enum valve_state { VALVE_STATE_CLOSED, VALVE_STATE_OPEN };
|
||||
enum valve_movement { VALVE_MOVEMENT_IDLE, VALVE_MOVEMENT_OPENING, VALVE_MOVEMENT_CLOSING, VALVE_MOVEMENT_ERROR };
|
||||
static enum valve_state current_state = VALVE_STATE_CLOSED;
|
||||
static enum valve_movement current_movement = VALVE_MOVEMENT_IDLE;
|
||||
static uint16_t max_opening_time_s = 60;
|
||||
static uint16_t max_closing_time_s = 60;
|
||||
static uint16_t watchdog_timeout_s;
|
||||
static int modbus_iface;
|
||||
|
||||
static struct k_work_delayable valve_work;
|
||||
|
||||
/* Digital I/O State */
|
||||
static uint16_t digital_outputs_state = 0;
|
||||
static uint16_t digital_inputs_state = 0; // Will be controlled by real hardware
|
||||
static uint16_t button_events = 0; // Clear-on-read
|
||||
|
||||
/* System State */
|
||||
static uint16_t device_status = 0; // 0 = OK
|
||||
static uint16_t watchdog_timeout_s = 0;
|
||||
|
||||
/* Firmware Update State */
|
||||
#define FWU_BUFFER_SIZE 256
|
||||
static uint8_t fwu_buffer[FWU_BUFFER_SIZE];
|
||||
static uint32_t fwu_chunk_offset = 0;
|
||||
static uint16_t fwu_chunk_size = 0;
|
||||
static uint16_t fwu_last_chunk_crc = 0;
|
||||
|
||||
/* Modbus Configuration */
|
||||
static int modbus_iface;
|
||||
static struct modbus_iface_param server_param = {
|
||||
.mode = MODBUS_MODE_RTU,
|
||||
.server = {
|
||||
.user_cb = NULL, // Will be set later
|
||||
.unit_id = 1,
|
||||
},
|
||||
.serial = {
|
||||
.baud = 19200,
|
||||
.parity = UART_CFG_PARITY_NONE,
|
||||
},
|
||||
.server = { .user_cb = NULL, .unit_id = 1 },
|
||||
.serial = { .baud = 19200, .parity = UART_CFG_PARITY_NONE },
|
||||
};
|
||||
|
||||
static void valve_work_handler(struct k_work *work)
|
||||
|
|
@ -82,38 +102,15 @@ static void valve_work_handler(struct k_work *work)
|
|||
current_movement = VALVE_MOVEMENT_IDLE;
|
||||
}
|
||||
|
||||
|
||||
static int coil_rd(uint16_t addr, bool *state)
|
||||
{
|
||||
*state = true;
|
||||
LOG_INF("Coil read, addr %u, %d", addr, (int)*state);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int coil_wr(uint16_t addr, bool state)
|
||||
{
|
||||
LOG_INF("Coil write, addr %u, %d", addr, (int)state);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int holding_reg_rd(uint16_t addr, uint16_t *reg)
|
||||
{
|
||||
switch (addr) {
|
||||
case REG_HOLDING_MAX_OPENING_TIME_S:
|
||||
*reg = max_opening_time_s;
|
||||
break;
|
||||
case REG_HOLDING_MAX_CLOSING_TIME_S:
|
||||
*reg = max_closing_time_s;
|
||||
break;
|
||||
case REG_HOLDING_WATCHDOG_TIMEOUT_S:
|
||||
*reg = watchdog_timeout_s;
|
||||
break;
|
||||
default:
|
||||
*reg = 0;
|
||||
break;
|
||||
case REG_HOLDING_MAX_OPENING_TIME_S: *reg = max_opening_time_s; break;
|
||||
case REG_HOLDING_MAX_CLOSING_TIME_S: *reg = max_closing_time_s; break;
|
||||
case REG_HOLDING_DIGITAL_OUTPUTS_STATE: *reg = digital_outputs_state; break;
|
||||
case REG_HOLDING_WATCHDOG_TIMEOUT_S: *reg = watchdog_timeout_s; break;
|
||||
default: *reg = 0; break;
|
||||
}
|
||||
|
||||
LOG_INF("Holding register read, addr %u, value %u", addr, *reg);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -125,19 +122,16 @@ static int holding_reg_wr(uint16_t addr, uint16_t reg)
|
|||
if (current_state == VALVE_STATE_CLOSED) {
|
||||
current_state = VALVE_STATE_OPEN;
|
||||
current_movement = VALVE_MOVEMENT_OPENING;
|
||||
LOG_INF("Virtual valve opening...");
|
||||
k_work_schedule(&valve_work, K_MSEC(max_opening_time_s * 1000 * 0.9));
|
||||
k_work_schedule(&valve_work, K_SECONDS(max_opening_time_s));
|
||||
}
|
||||
} else if (reg == 2) { /* Close */
|
||||
if (current_state == VALVE_STATE_OPEN) {
|
||||
current_movement = VALVE_MOVEMENT_CLOSING;
|
||||
LOG_INF("Virtual valve closing...");
|
||||
k_work_schedule(&valve_work, K_MSEC(max_closing_time_s * 1000 * 0.9));
|
||||
k_work_schedule(&valve_work, K_SECONDS(max_closing_time_s));
|
||||
}
|
||||
} else if (reg == 0) { /* Stop */
|
||||
k_work_cancel_delayable(&valve_work);
|
||||
current_movement = VALVE_MOVEMENT_IDLE;
|
||||
LOG_INF("Virtual valve movement stopped");
|
||||
}
|
||||
break;
|
||||
case REG_HOLDING_MAX_OPENING_TIME_S:
|
||||
|
|
@ -148,14 +142,43 @@ static int holding_reg_wr(uint16_t addr, uint16_t reg)
|
|||
max_closing_time_s = reg;
|
||||
settings_save_one("valve/max_close_time", &max_closing_time_s, sizeof(max_closing_time_s));
|
||||
break;
|
||||
case REG_HOLDING_DIGITAL_OUTPUTS_STATE:
|
||||
digital_outputs_state = reg;
|
||||
LOG_INF("Digital outputs set to 0x%04X", digital_outputs_state);
|
||||
// Here you would typically write to GPIOs
|
||||
break;
|
||||
case REG_HOLDING_WATCHDOG_TIMEOUT_S:
|
||||
watchdog_timeout_s = reg;
|
||||
LOG_INF("Watchdog timeout set to %u s", watchdog_timeout_s);
|
||||
break;
|
||||
case REG_HOLDING_FWU_COMMAND:
|
||||
if (reg == 1) { // Verify Chunk
|
||||
LOG_INF("FWU: Chunk at offset %u (size %u) verified by client, writing to flash (simulated).", fwu_chunk_offset, fwu_chunk_size);
|
||||
} else if (reg == 2) { // Finalize Update
|
||||
LOG_INF("FWU: Finalize command received. Rebooting (simulated).");
|
||||
// In a real scenario: sys_reboot(SYS_REBOOT_WARM);
|
||||
}
|
||||
break;
|
||||
case REG_HOLDING_FWU_CHUNK_OFFSET_LOW: fwu_chunk_offset = (fwu_chunk_offset & 0xFFFF0000) | reg; break;
|
||||
case REG_HOLDING_FWU_CHUNK_OFFSET_HIGH: fwu_chunk_offset = (fwu_chunk_offset & 0x0000FFFF) | ((uint32_t)reg << 16); break;
|
||||
case REG_HOLDING_FWU_CHUNK_SIZE:
|
||||
fwu_chunk_size = (reg > FWU_BUFFER_SIZE) ? FWU_BUFFER_SIZE : reg;
|
||||
break;
|
||||
default:
|
||||
// Handle FWU_DATA_BUFFER writes
|
||||
if (addr >= REG_HOLDING_FWU_DATA_BUFFER && addr < (REG_HOLDING_FWU_DATA_BUFFER + (FWU_BUFFER_SIZE / 2))) {
|
||||
uint16_t index = (addr - REG_HOLDING_FWU_DATA_BUFFER) * 2;
|
||||
if (index < sizeof(fwu_buffer)) {
|
||||
sys_put_be16(reg, &fwu_buffer[index]);
|
||||
// After the last register of a chunk is written, calculate CRC
|
||||
if (index + 2 >= fwu_chunk_size) {
|
||||
fwu_last_chunk_crc = crc16_ccitt(0xffff, fwu_buffer, fwu_chunk_size);
|
||||
LOG_INF("FWU: Chunk received, CRC is 0x%04X", fwu_last_chunk_crc);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
LOG_INF("Holding register write, addr %u, value %u", addr, reg);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -164,39 +187,25 @@ static int input_reg_rd(uint16_t addr, uint16_t *reg)
|
|||
uint32_t uptime_s = k_uptime_get_32() / 1000;
|
||||
|
||||
switch (addr) {
|
||||
case REG_INPUT_VALVE_STATE_MOVEMENT:
|
||||
*reg = (current_movement << 8) | (current_state & 0xFF);
|
||||
break;
|
||||
case REG_INPUT_MOTOR_CURRENT_MA:
|
||||
*reg = 50; /* Dummy value */
|
||||
break;
|
||||
case REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR:
|
||||
*reg = (APP_VERSION_MAJOR << 8) | (APP_VERSION_MINOR & 0xFF);
|
||||
break;
|
||||
case REG_INPUT_FIRMWARE_VERSION_PATCH:
|
||||
*reg = APP_VERSION_PATCH;
|
||||
break;
|
||||
case REG_INPUT_DEVICE_STATUS:
|
||||
*reg = 0; /* 0 = OK */
|
||||
break;
|
||||
case REG_INPUT_UPTIME_SECONDS_LOW:
|
||||
*reg = (uint16_t)(uptime_s & 0xFFFF);
|
||||
break;
|
||||
case REG_INPUT_UPTIME_SECONDS_HIGH:
|
||||
*reg = (uint16_t)(uptime_s >> 16);
|
||||
break;
|
||||
default:
|
||||
*reg = 0;
|
||||
case REG_INPUT_VALVE_STATE_MOVEMENT: *reg = (current_movement << 8) | (current_state & 0xFF); break;
|
||||
case REG_INPUT_MOTOR_CURRENT_MA: *reg = (current_movement != VALVE_MOVEMENT_IDLE) ? 150 : 10; break; // Simulated
|
||||
case REG_INPUT_DIGITAL_INPUTS_STATE: *reg = digital_inputs_state; break;
|
||||
case REG_INPUT_BUTTON_EVENTS:
|
||||
*reg = button_events;
|
||||
button_events = 0; // Clear-on-read
|
||||
break;
|
||||
case REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR: *reg = (APP_VERSION_MAJOR << 8) | (APP_VERSION_MINOR & 0xFF); break;
|
||||
case REG_INPUT_FIRMWARE_VERSION_PATCH: *reg = APP_VERSION_PATCH; break;
|
||||
case REG_INPUT_DEVICE_STATUS: *reg = device_status; break;
|
||||
case REG_INPUT_UPTIME_SECONDS_LOW: *reg = (uint16_t)(uptime_s & 0xFFFF); break;
|
||||
case REG_INPUT_UPTIME_SECONDS_HIGH: *reg = (uint16_t)(uptime_s >> 16); break;
|
||||
case REG_INPUT_FWU_LAST_CHUNK_CRC: *reg = fwu_last_chunk_crc; break;
|
||||
default: *reg = 0; break;
|
||||
}
|
||||
|
||||
LOG_INF("Input register read, addr %u, value %u", addr, *reg);
|
||||
return 0;
|
||||
}
|
||||
|
||||
static struct modbus_user_callbacks mbs_cbs = {
|
||||
.coil_rd = coil_rd,
|
||||
.coil_wr = coil_wr,
|
||||
.holding_reg_rd = holding_reg_rd,
|
||||
.holding_reg_wr = holding_reg_wr,
|
||||
.input_reg_rd = input_reg_rd,
|
||||
|
|
@ -207,146 +216,71 @@ static struct modbus_user_callbacks mbs_cbs = {
|
|||
int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id)
|
||||
{
|
||||
int err;
|
||||
|
||||
LOG_INF("Reconfiguring Modbus: baudrate=%u, id=%u", baudrate, unit_id);
|
||||
|
||||
err = modbus_disable(modbus_iface);
|
||||
if (err) {
|
||||
LOG_ERR("Failed to disable Modbus: %d", err);
|
||||
return err;
|
||||
}
|
||||
|
||||
if (err) { return err; }
|
||||
server_param.serial.baud = baudrate;
|
||||
server_param.server.unit_id = unit_id;
|
||||
|
||||
err = modbus_init_server(modbus_iface, server_param);
|
||||
if (err) {
|
||||
LOG_ERR("Failed to re-init Modbus server: %d", err);
|
||||
return err;
|
||||
}
|
||||
|
||||
return 0;
|
||||
return err;
|
||||
}
|
||||
|
||||
uint32_t modbus_get_baudrate(void)
|
||||
{
|
||||
return server_param.serial.baud;
|
||||
}
|
||||
uint32_t modbus_get_baudrate(void) { return server_param.serial.baud; }
|
||||
uint8_t modbus_get_unit_id(void) { return server_param.server.unit_id; }
|
||||
void valve_set_max_open_time(uint16_t seconds) { max_opening_time_s = seconds; settings_save_one("valve/max_open_time", &max_opening_time_s, sizeof(max_opening_time_s)); }
|
||||
void valve_set_max_close_time(uint16_t seconds) { max_closing_time_s = seconds; settings_save_one("valve/max_close_time", &max_closing_time_s, sizeof(max_closing_time_s)); }
|
||||
uint16_t valve_get_max_open_time(void) { return max_opening_time_s; }
|
||||
uint16_t valve_get_max_close_time(void) { return max_closing_time_s; }
|
||||
|
||||
uint8_t modbus_get_unit_id(void)
|
||||
{
|
||||
return server_param.server.unit_id;
|
||||
}
|
||||
|
||||
void valve_set_max_open_time(uint16_t seconds)
|
||||
{
|
||||
max_opening_time_s = seconds;
|
||||
settings_save_one("valve/max_open_time", &max_opening_time_s, sizeof(max_opening_time_s));
|
||||
}
|
||||
|
||||
void valve_set_max_close_time(uint16_t seconds)
|
||||
{
|
||||
max_closing_time_s = seconds;
|
||||
settings_save_one("valve/max_close_time", &max_closing_time_s, sizeof(max_closing_time_s));
|
||||
}
|
||||
|
||||
uint16_t valve_get_max_open_time(void)
|
||||
{
|
||||
return max_opening_time_s;
|
||||
}
|
||||
|
||||
uint16_t valve_get_max_close_time(void)
|
||||
{
|
||||
return max_closing_time_s;
|
||||
}
|
||||
|
||||
static int settings_load_cb(const char *name, size_t len,
|
||||
settings_read_cb read_cb, void *cb_arg)
|
||||
static int settings_load_cb(const char *name, size_t len, settings_read_cb read_cb, void *cb_arg)
|
||||
{
|
||||
const char *next;
|
||||
int rc;
|
||||
|
||||
if (settings_name_steq(name, "baudrate", &next) && !next) {
|
||||
rc = read_cb(cb_arg, &server_param.serial.baud, sizeof(server_param.serial.baud));
|
||||
if (rc < 0) {
|
||||
return rc;
|
||||
}
|
||||
LOG_INF("Loaded modbus/baudrate: %u", server_param.serial.baud);
|
||||
return 0;
|
||||
return (rc < 0) ? rc : 0;
|
||||
}
|
||||
|
||||
if (settings_name_steq(name, "unit_id", &next) && !next) {
|
||||
rc = read_cb(cb_arg, &server_param.server.unit_id, sizeof(server_param.server.unit_id));
|
||||
if (rc < 0) {
|
||||
return rc;
|
||||
}
|
||||
LOG_INF("Loaded modbus/unit_id: %u", server_param.server.unit_id);
|
||||
return 0;
|
||||
return (rc < 0) ? rc : 0;
|
||||
}
|
||||
|
||||
if (settings_name_steq(name, "max_open_time", &next) && !next) {
|
||||
rc = read_cb(cb_arg, &max_opening_time_s, sizeof(max_opening_time_s));
|
||||
if (rc < 0) {
|
||||
return rc;
|
||||
}
|
||||
LOG_INF("Loaded valve/max_open_time: %u", max_opening_time_s);
|
||||
return 0;
|
||||
return (rc < 0) ? rc : 0;
|
||||
}
|
||||
|
||||
if (settings_name_steq(name, "max_close_time", &next) && !next) {
|
||||
rc = read_cb(cb_arg, &max_closing_time_s, sizeof(max_closing_time_s));
|
||||
if (rc < 0) {
|
||||
return rc;
|
||||
}
|
||||
LOG_INF("Loaded valve/max_close_time: %u", max_closing_time_s);
|
||||
return 0;
|
||||
return (rc < 0) ? rc : 0;
|
||||
}
|
||||
|
||||
return -ENOENT;
|
||||
}
|
||||
|
||||
SETTINGS_STATIC_HANDLER_DEFINE(modbus, "modbus", NULL, settings_load_cb, NULL, NULL);
|
||||
SETTINGS_STATIC_HANDLER_DEFINE(valve, "valve", NULL, settings_load_cb, NULL, NULL);
|
||||
|
||||
|
||||
static int init_modbus_server(void)
|
||||
{
|
||||
const char iface_name[] = {DEVICE_DT_NAME(MODBUS_NODE)};
|
||||
|
||||
modbus_iface = modbus_iface_get_by_name(iface_name);
|
||||
if (modbus_iface < 0) {
|
||||
LOG_ERR("Failed to get iface index for %s", iface_name);
|
||||
return modbus_iface;
|
||||
}
|
||||
|
||||
if (modbus_iface < 0) { return modbus_iface; }
|
||||
server_param.server.user_cb = &mbs_cbs;
|
||||
|
||||
return modbus_init_server(modbus_iface, server_param);
|
||||
}
|
||||
|
||||
int main(void)
|
||||
{
|
||||
LOG_INF("Starting APP");
|
||||
LOG_INF("Starting Irrigation System Slave Node");
|
||||
|
||||
k_work_init_delayable(&valve_work, valve_work_handler);
|
||||
|
||||
if (settings_subsys_init()) {
|
||||
LOG_ERR("Failed to initialize settings subsystem");
|
||||
if (settings_subsys_init() || settings_load()) {
|
||||
LOG_ERR("Settings initialization or loading failed");
|
||||
}
|
||||
|
||||
if (settings_load()) {
|
||||
LOG_ERR("Failed to load settings");
|
||||
}
|
||||
|
||||
|
||||
if (init_modbus_server()) {
|
||||
LOG_ERR("Modbus RTU server initialization failed");
|
||||
return 0;
|
||||
}
|
||||
LOG_INF("APP started");
|
||||
|
||||
while (1) {
|
||||
k_sleep(K_MSEC(1000));
|
||||
}
|
||||
|
||||
LOG_INF("Irrigation System Slave Node started successfully");
|
||||
return 0;
|
||||
}
|
||||
Loading…
Reference in New Issue