diff --git a/software/apps/slave_node/CMakeLists.txt b/software/apps/slave_node/CMakeLists.txt index db8b1e4..d8a6db7 100644 --- a/software/apps/slave_node/CMakeLists.txt +++ b/software/apps/slave_node/CMakeLists.txt @@ -6,4 +6,22 @@ list(APPEND BOARD_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../..) find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE}) project(slave_node) -target_sources(app PRIVATE src/main.c src/shell_modbus.c src/shell_system.c) +# Define a variable for the lib directory +set(LIB_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../lib) + +# Add the include directories for the libraries +target_include_directories(app PRIVATE + ${LIB_DIR}/valve + ${LIB_DIR}/modbus_server + ${LIB_DIR}/fwu +) + +# Add the source files from the app and the libraries +target_sources(app PRIVATE + src/main.c + src/shell_modbus.c + src/shell_system.c + ${LIB_DIR}/valve/valve.c + ${LIB_DIR}/modbus_server/modbus_server.c + ${LIB_DIR}/fwu/fwu.c +) \ No newline at end of file diff --git a/software/apps/slave_node/src/main.c b/software/apps/slave_node/src/main.c index ab74f3a..8829b4a 100644 --- a/software/apps/slave_node/src/main.c +++ b/software/apps/slave_node/src/main.c @@ -1,405 +1,28 @@ -/** - * @file main.c - * @brief Main application for the Irrigation System Slave Node. - * - * This file contains the main logic for the Modbus RTU slave node, including - * valve control, digital I/O, system status, and a simulated firmware update process. - * - * @copyright Copyright (c) 2020 PHYTEC Messtechnik GmbH - * @copyright Copyright (c) 2022 Nordic Semiconductor ASA - * @copyright SPDX-License-Identifier: Apache-2.0 - */ - #include -#include -#include -#include -#include #include -#include -#include - #include -#include "modbus_bridge.h" +#include "modbus_server.h" +#include "valve.h" +#include "fwu.h" -/** @brief Logging module registration. */ -LOG_MODULE_REGISTER(mbs_sample, LOG_LEVEL_INF); +LOG_MODULE_REGISTER(main, LOG_LEVEL_INF); -/** @brief Major version of the application firmware. */ -#define APP_VERSION_MAJOR 1 -/** @brief Minor version of the application firmware. */ -#define APP_VERSION_MINOR 0 -/** @brief Patch version of the application firmware. */ -#define APP_VERSION_PATCH 0 - -/** - * @brief Modbus Input Register Addresses. - */ -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, -}; - -/** - * @brief Modbus Holding Register Addresses. - */ -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, -}; - -/** @brief Represents the physical state of the valve. */ -enum valve_state { VALVE_STATE_CLOSED, VALVE_STATE_OPEN }; -/** @brief Represents the current movement of the valve. */ -enum valve_movement { VALVE_MOVEMENT_IDLE, VALVE_MOVEMENT_OPENING, VALVE_MOVEMENT_CLOSING, VALVE_MOVEMENT_ERROR }; - -/* --- State Variables --- */ -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 struct k_work_delayable valve_work; - -static uint16_t digital_outputs_state = 0; -static uint16_t digital_inputs_state = 0; -static uint16_t button_events = 0; - -static uint16_t device_status = 0; -static uint16_t watchdog_timeout_s = 0; -static struct k_timer watchdog_timer; - -/** @brief Size of the buffer for firmware update chunks. */ -#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; - -static int modbus_iface; -static struct modbus_iface_param server_param = { - .mode = MODBUS_MODE_RTU, - .server = { .user_cb = NULL, .unit_id = 1 }, - .serial = { .baud = 19200, .parity = UART_CFG_PARITY_NONE }, -}; - -/** - * @brief Triggers the closing of the valve. - * - * If the valve is currently open, this function initiates the closing movement - * and schedules the completion via the valve_work handler. - */ -static void close_valve_action(void) -{ - if (current_state == VALVE_STATE_OPEN) { - current_movement = VALVE_MOVEMENT_CLOSING; - k_work_schedule(&valve_work, K_SECONDS(max_closing_time_s)); - } -} - -/** - * @brief Watchdog timer expiration handler. - * - * This function is called by the kernel when the Modbus watchdog timer expires. - * It triggers the fail-safe action of closing the valve. - * - * @param timer_id Pointer to the timer instance that expired. - */ -static void watchdog_timer_handler(struct k_timer *timer_id) -{ - LOG_WRN("Modbus watchdog expired! Closing valve as a fail-safe."); - close_valve_action(); -} - -/** - * @brief Resets the Modbus communication watchdog timer. - * - * This function should be called on any valid Modbus communication to prevent - * the fail-safe timeout from occurring. - */ -static inline void reset_watchdog(void) -{ - if (watchdog_timeout_s > 0) { - k_timer_start(&watchdog_timer, K_SECONDS(watchdog_timeout_s), K_NO_WAIT); - } -} - -/** - * @brief Work handler for completing valve movement. - * - * This function is called from a workqueue to finalize the state of the valve - * after a time-based movement simulation has completed. - * - * @param work Pointer to the work item. - */ -static void valve_work_handler(struct k_work *work) -{ - if (current_movement == VALVE_MOVEMENT_OPENING) { - LOG_INF("Virtual valve finished opening"); - } else if (current_movement == VALVE_MOVEMENT_CLOSING) { - current_state = VALVE_STATE_CLOSED; - LOG_INF("Virtual valve finished closing"); - } - current_movement = VALVE_MOVEMENT_IDLE; -} - -/** - * @brief Modbus callback for reading holding registers. - * @param addr Register address. - * @param reg Pointer to store the read value. - * @return 0 on success, negative error code otherwise. - */ -static int holding_reg_rd(uint16_t addr, uint16_t *reg) -{ - reset_watchdog(); - 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_DIGITAL_OUTPUTS_STATE: *reg = digital_outputs_state; break; - case REG_HOLDING_WATCHDOG_TIMEOUT_S: *reg = watchdog_timeout_s; break; - default: *reg = 0; break; - } - return 0; -} - -/** - * @brief Modbus callback for writing holding registers. - * @param addr Register address. - * @param reg Value to write. - * @return 0 on success, negative error code otherwise. - */ -static int holding_reg_wr(uint16_t addr, uint16_t reg) -{ - reset_watchdog(); - switch (addr) { - case REG_HOLDING_VALVE_COMMAND: - if (reg == 1) { /* Open */ - if (current_state == VALVE_STATE_CLOSED) { - current_state = VALVE_STATE_OPEN; - current_movement = VALVE_MOVEMENT_OPENING; - k_work_schedule(&valve_work, K_SECONDS(max_opening_time_s)); - } - } else if (reg == 2) { /* Close */ - close_valve_action(); - } else if (reg == 0) { /* Stop */ - k_work_cancel_delayable(&valve_work); - current_movement = VALVE_MOVEMENT_IDLE; - } - break; - case REG_HOLDING_MAX_OPENING_TIME_S: - max_opening_time_s = reg; - settings_save_one("valve/max_open_time", &max_opening_time_s, sizeof(max_opening_time_s)); - break; - case REG_HOLDING_MAX_CLOSING_TIME_S: - 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); - break; - case REG_HOLDING_WATCHDOG_TIMEOUT_S: - watchdog_timeout_s = reg; - if (watchdog_timeout_s > 0) { - LOG_INF("Watchdog enabled with %u s timeout.", watchdog_timeout_s); - reset_watchdog(); - } else { - LOG_INF("Watchdog disabled."); - k_timer_stop(&watchdog_timer); - } - break; - case REG_HOLDING_FWU_COMMAND: - if (reg == 1) { LOG_INF("FWU: Chunk at offset %u (size %u) verified.", fwu_chunk_offset, fwu_chunk_size); } - else if (reg == 2) { LOG_INF("FWU: Finalize command received. Rebooting (simulated)."); } - 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: - 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]); - 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; - } - return 0; -} - -/** - * @brief Modbus callback for reading input registers. - * @param addr Register address. - * @param reg Pointer to store the read value. - * @return 0 on success, negative error code otherwise. - */ -static int input_reg_rd(uint16_t addr, uint16_t *reg) -{ - reset_watchdog(); - 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 = (current_movement != VALVE_MOVEMENT_IDLE) ? 150 : 10; break; - case REG_INPUT_DIGITAL_INPUTS_STATE: *reg = digital_inputs_state; break; - case REG_INPUT_BUTTON_EVENTS: *reg = button_events; button_events = 0; 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; - } - return 0; -} - -static struct modbus_user_callbacks mbs_cbs = { - .holding_reg_rd = holding_reg_rd, - .holding_reg_wr = holding_reg_wr, - .input_reg_rd = input_reg_rd, -}; - -/** @brief Device tree node for the Modbus serial interface. */ -#define MODBUS_NODE DT_COMPAT_GET_ANY_STATUS_OKAY(zephyr_modbus_serial) - -/** - * @brief Reconfigures the Modbus interface with new parameters. - * @param baudrate New baud rate. - * @param unit_id New unit ID. - * @return 0 on success, negative error code otherwise. - */ -int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id) { /* ... */ return 0; } -/** - * @brief Gets the current Modbus baud rate. - * @return Current baud rate. - */ -uint32_t modbus_get_baudrate(void) { return server_param.serial.baud; } -/** - * @brief Gets the current Modbus unit ID. - * @return Current unit ID. - */ -uint8_t modbus_get_unit_id(void) { return server_param.server.unit_id; } -/** - * @brief Sets the maximum valve opening time. - * @param seconds Time in seconds. - */ -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)); } -/** - * @brief Sets the maximum valve closing time. - * @param seconds Time in seconds. - */ -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)); } -/** - * @brief Gets the maximum valve opening time. - * @return Time in seconds. - */ -uint16_t valve_get_max_open_time(void) { return max_opening_time_s; } -/** - * @brief Gets the maximum valve closing time. - * @return Time in seconds. - */ -uint16_t valve_get_max_close_time(void) { return max_closing_time_s; } - -/** - * @brief Callback for loading settings from non-volatile storage. - * @param name Name of the setting. - * @param len Length of the setting value. - * @param read_cb Function to read the setting value. - * @param cb_arg Callback argument. - * @return 0 on success, negative error code otherwise. - */ -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)); - 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)); - 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)); - 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)); - return (rc < 0) ? rc : 0; - } - return -ENOENT; -} - -/** @brief Settings handler definition for Modbus parameters. */ -SETTINGS_STATIC_HANDLER_DEFINE(modbus, "modbus", NULL, settings_load_cb, NULL, NULL); -/** @brief Settings handler definition for valve parameters. */ -SETTINGS_STATIC_HANDLER_DEFINE(valve, "valve", NULL, settings_load_cb, NULL, NULL); - -/** - * @brief Initializes the Modbus server interface. - * - * @return 0 on success, negative error code otherwise. - */ -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) { return modbus_iface; } - server_param.server.user_cb = &mbs_cbs; - return modbus_init_server(modbus_iface, server_param); -} - -/** - * @brief Main entry point for the application. - * - * Initializes all subsystems including Modbus, settings, and timers, - * then enters an idle state. - * - * @return 0 on success, negative error code otherwise. - */ int main(void) { LOG_INF("Starting Irrigation System Slave Node"); - k_work_init_delayable(&valve_work, valve_work_handler); - k_timer_init(&watchdog_timer, watchdog_timer_handler, NULL); - if (settings_subsys_init() || settings_load()) { LOG_ERR("Settings initialization or loading failed"); } - if (init_modbus_server()) { + valve_init(); + fwu_init(); + + if (modbus_server_init()) { LOG_ERR("Modbus RTU server initialization failed"); return 0; } LOG_INF("Irrigation System Slave Node started successfully"); return 0; -} \ No newline at end of file +} diff --git a/software/apps/slave_node/src/modbus_bridge.h b/software/apps/slave_node/src/modbus_bridge.h deleted file mode 100644 index d2ea51b..0000000 --- a/software/apps/slave_node/src/modbus_bridge.h +++ /dev/null @@ -1,32 +0,0 @@ -#ifndef MODBUS_BRIDGE_H -#define MODBUS_BRIDGE_H - -#include - -/** - * @brief Reconfigures the Modbus server with new parameters. - * - * @param baudrate New baudrate. - * @param unit_id New slave unit ID. - * @return 0 on success, negative error code on failure. - */ -int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id); - -/** - * @brief Gets the currently active Modbus baudrate. - * @return The current baudrate. - */ -uint32_t modbus_get_baudrate(void); - -/** - * @brief Gets the currently active Modbus slave unit ID. - * @return The current slave unit ID. - */ -uint8_t modbus_get_unit_id(void); - -void valve_set_max_open_time(uint16_t seconds); -void valve_set_max_close_time(uint16_t seconds); -uint16_t valve_get_max_open_time(void); -uint16_t valve_get_max_close_time(void); - -#endif // MODBUS_BRIDGE_H diff --git a/software/apps/slave_node/src/shell_modbus.c b/software/apps/slave_node/src/shell_modbus.c index 13ecbbf..8ef58da 100644 --- a/software/apps/slave_node/src/shell_modbus.c +++ b/software/apps/slave_node/src/shell_modbus.c @@ -1,6 +1,7 @@ #include #include -#include "modbus_bridge.h" +#include "modbus_server.h" +#include "valve.h" static int cmd_modbus_set_baud(const struct shell *sh, size_t argc, char **argv) { diff --git a/software/lib/CMakeLists.txt b/software/lib/CMakeLists.txt index ba4ae56..f53e344 100644 --- a/software/lib/CMakeLists.txt +++ b/software/lib/CMakeLists.txt @@ -1,4 +1,4 @@ -# Add your shared libraries here -# Example: -# add_library(modbus modbus/modbus.c) -# target_include_directories(modbus PUBLIC .) +add_subdirectory(modbus) +add_subdirectory(valve) +add_subdirectory(modbus_server) +add_subdirectory(fwu) \ No newline at end of file diff --git a/software/lib/fwu/fwu.c b/software/lib/fwu/fwu.c new file mode 100644 index 0000000..5a9432c --- /dev/null +++ b/software/lib/fwu/fwu.c @@ -0,0 +1,45 @@ +#include "fwu.h" +#include +#include +#include +#include + +LOG_MODULE_REGISTER(fwu, LOG_LEVEL_INF); + +#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; + +void fwu_init(void) {} + +void fwu_handler(uint16_t addr, uint16_t reg) +{ + // This is a simplified handler. In a real scenario, you would have a proper mapping + // between register addresses and actions. + if (addr == 0x0100) { // FWU_COMMAND + if (reg == 1) { LOG_INF("FWU: Chunk at offset %u (size %u) verified.", fwu_chunk_offset, fwu_chunk_size); } + else if (reg == 2) { LOG_INF("FWU: Finalize command received. Rebooting (simulated)."); } + } else if (addr == 0x0101) { // FWU_CHUNK_OFFSET_LOW + fwu_chunk_offset = (fwu_chunk_offset & 0xFFFF0000) | reg; + } else if (addr == 0x0102) { // FWU_CHUNK_OFFSET_HIGH + fwu_chunk_offset = (fwu_chunk_offset & 0x0000FFFF) | ((uint32_t)reg << 16); + } else if (addr == 0x0103) { // FWU_CHUNK_SIZE + fwu_chunk_size = (reg > FWU_BUFFER_SIZE) ? FWU_BUFFER_SIZE : reg; + } else if (addr >= 0x0180 && addr < (0x0180 + (FWU_BUFFER_SIZE / 2))) { + uint16_t index = (addr - 0x0180) * 2; + if (index < sizeof(fwu_buffer)) { + sys_put_be16(reg, &fwu_buffer[index]); + 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); + } + } + } +} + +uint16_t fwu_get_last_chunk_crc(void) +{ + return fwu_last_chunk_crc; +} diff --git a/software/lib/fwu/fwu.h b/software/lib/fwu/fwu.h new file mode 100644 index 0000000..4d43214 --- /dev/null +++ b/software/lib/fwu/fwu.h @@ -0,0 +1,10 @@ +#ifndef FWU_H +#define FWU_H + +#include + +void fwu_init(void); +void fwu_handler(uint16_t addr, uint16_t reg); +uint16_t fwu_get_last_chunk_crc(void); + +#endif // FWU_H diff --git a/software/lib/modbus_server/modbus_server.c b/software/lib/modbus_server/modbus_server.c new file mode 100644 index 0000000..9375eed --- /dev/null +++ b/software/lib/modbus_server/modbus_server.c @@ -0,0 +1,169 @@ +#include +#include "modbus_server.h" +#include +#include +#include +#include +#include "valve.h" +#include "fwu.h" + +LOG_MODULE_REGISTER(modbus_server, LOG_LEVEL_INF); + + +/** + * @brief Modbus Input Register Addresses. + */ +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, +}; + +/** + * @brief Modbus Holding Register Addresses. + */ +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, +}; + +static int modbus_iface; +static struct modbus_iface_param server_param = { + .mode = MODBUS_MODE_RTU, + .server = { .user_cb = NULL, .unit_id = 1 }, + .serial = { .baud = 19200, .parity = UART_CFG_PARITY_NONE }, +}; + +static uint16_t watchdog_timeout_s = 0; +static struct k_timer watchdog_timer; + +static void watchdog_timer_handler(struct k_timer *timer_id) +{ + LOG_WRN("Modbus watchdog expired! Closing valve as a fail-safe."); + valve_close(); +} + +static inline void reset_watchdog(void) +{ + if (watchdog_timeout_s > 0) { + k_timer_start(&watchdog_timer, K_SECONDS(watchdog_timeout_s), K_NO_WAIT); + } +} + +static int holding_reg_rd(uint16_t addr, uint16_t *reg) +{ + reset_watchdog(); + switch (addr) { + case REG_HOLDING_MAX_OPENING_TIME_S: *reg = valve_get_max_open_time(); break; + case REG_HOLDING_MAX_CLOSING_TIME_S: *reg = valve_get_max_close_time(); break; + case REG_HOLDING_WATCHDOG_TIMEOUT_S: *reg = watchdog_timeout_s; break; + default: *reg = 0; break; + } + return 0; +} + +static int holding_reg_wr(uint16_t addr, uint16_t reg) +{ + reset_watchdog(); + switch (addr) { + case REG_HOLDING_VALVE_COMMAND: + if (reg == 1) { valve_open(); } + else if (reg == 2) { valve_close(); } + else if (reg == 0) { valve_stop(); } + break; + case REG_HOLDING_MAX_OPENING_TIME_S: + valve_set_max_open_time(reg); + break; + case REG_HOLDING_MAX_CLOSING_TIME_S: + valve_set_max_close_time(reg); + break; + case REG_HOLDING_WATCHDOG_TIMEOUT_S: + watchdog_timeout_s = reg; + if (watchdog_timeout_s > 0) { + LOG_INF("Watchdog enabled with %u s timeout.", watchdog_timeout_s); + reset_watchdog(); + } else { + LOG_INF("Watchdog disabled."); + k_timer_stop(&watchdog_timer); + } + break; + default: + fwu_handler(addr, reg); + break; + } + return 0; +} + +static int input_reg_rd(uint16_t addr, uint16_t *reg) +{ + reset_watchdog(); + uint32_t uptime_s = k_uptime_get_32() / 1000; + switch (addr) { + case REG_INPUT_VALVE_STATE_MOVEMENT: *reg = (valve_get_movement() << 8) | (valve_get_state() & 0xFF); break; + case REG_INPUT_MOTOR_CURRENT_MA: *reg = valve_get_motor_current(); 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_get_last_chunk_crc(); break; + default: *reg = 0; break; + } + return 0; +} + +static struct modbus_user_callbacks mbs_cbs = { + .holding_reg_rd = holding_reg_rd, + .holding_reg_wr = holding_reg_wr, + .input_reg_rd = input_reg_rd, +}; + +#define MODBUS_NODE DT_COMPAT_GET_ANY_STATUS_OKAY(zephyr_modbus_serial) + +int modbus_server_init(void) +{ + k_timer_init(&watchdog_timer, watchdog_timer_handler, NULL); + const char iface_name[] = {DEVICE_DT_NAME(MODBUS_NODE)}; + modbus_iface = modbus_iface_get_by_name(iface_name); + if (modbus_iface < 0) { return modbus_iface; } + server_param.server.user_cb = &mbs_cbs; + return modbus_init_server(modbus_iface, server_param); +} + +int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id) +{ + server_param.serial.baud = baudrate; + server_param.server.unit_id = unit_id; + + int ret = modbus_init_server(modbus_iface, server_param); + + if (ret == 0) { + settings_save_one("modbus/baudrate", &baudrate, sizeof(baudrate)); + settings_save_one("modbus/unit_id", &unit_id, sizeof(unit_id)); + } + + return ret; +} + +uint32_t modbus_get_baudrate(void) { return server_param.serial.baud; } +uint8_t modbus_get_unit_id(void) { return server_param.server.unit_id; } \ No newline at end of file diff --git a/software/lib/modbus_server/modbus_server.h b/software/lib/modbus_server/modbus_server.h new file mode 100644 index 0000000..b81f949 --- /dev/null +++ b/software/lib/modbus_server/modbus_server.h @@ -0,0 +1,11 @@ +#ifndef MODBUS_SERVER_H +#define MODBUS_SERVER_H + +#include + +int modbus_server_init(void); +int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id); +uint32_t modbus_get_baudrate(void); +uint8_t modbus_get_unit_id(void); + +#endif // MODBUS_SERVER_H diff --git a/software/lib/valve/valve.c b/software/lib/valve/valve.c new file mode 100644 index 0000000..48e535f --- /dev/null +++ b/software/lib/valve/valve.c @@ -0,0 +1,62 @@ +#include "valve.h" +#include +#include +#include + +LOG_MODULE_REGISTER(valve, LOG_LEVEL_INF); + +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 struct k_work_delayable valve_work; + +static void valve_work_handler(struct k_work *work) +{ + if (current_movement == VALVE_MOVEMENT_OPENING) { + LOG_INF("Virtual valve finished opening"); + } else if (current_movement == VALVE_MOVEMENT_CLOSING) { + current_state = VALVE_STATE_CLOSED; + LOG_INF("Virtual valve finished closing"); + } + current_movement = VALVE_MOVEMENT_IDLE; +} + +void valve_init(void) +{ + k_work_init_delayable(&valve_work, valve_work_handler); + settings_load_one("valve/max_open_time", &max_opening_time_s, sizeof(max_opening_time_s)); + settings_load_one("valve/max_close_time", &max_closing_time_s, sizeof(max_closing_time_s)); +} + +void valve_open(void) +{ + if (current_state == VALVE_STATE_CLOSED) { + current_state = VALVE_STATE_OPEN; + current_movement = VALVE_MOVEMENT_OPENING; + k_work_schedule(&valve_work, K_SECONDS(max_opening_time_s)); + } +} + +void valve_close(void) +{ + if (current_state == VALVE_STATE_OPEN) { + current_movement = VALVE_MOVEMENT_CLOSING; + k_work_schedule(&valve_work, K_SECONDS(max_closing_time_s)); + } +} + +void valve_stop(void) +{ + k_work_cancel_delayable(&valve_work); + current_movement = VALVE_MOVEMENT_IDLE; +} + +enum valve_state valve_get_state(void) { return current_state; } +enum valve_movement valve_get_movement(void) { return current_movement; } +uint16_t valve_get_motor_current(void) { return (current_movement != VALVE_MOVEMENT_IDLE) ? 150 : 10; } + +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; } diff --git a/software/lib/valve/valve.h b/software/lib/valve/valve.h new file mode 100644 index 0000000..ed58220 --- /dev/null +++ b/software/lib/valve/valve.h @@ -0,0 +1,23 @@ +#ifndef VALVE_H +#define VALVE_H + +#include + +enum valve_state { VALVE_STATE_CLOSED, VALVE_STATE_OPEN }; +enum valve_movement { VALVE_MOVEMENT_IDLE, VALVE_MOVEMENT_OPENING, VALVE_MOVEMENT_CLOSING, VALVE_MOVEMENT_ERROR }; + +void valve_init(void); +void valve_open(void); +void valve_close(void); +void valve_stop(void); + +enum valve_state valve_get_state(void); +enum valve_movement valve_get_movement(void); +uint16_t valve_get_motor_current(void); + +void valve_set_max_open_time(uint16_t seconds); +void valve_set_max_close_time(uint16_t seconds); +uint16_t valve_get_max_open_time(void); +uint16_t valve_get_max_close_time(void); + +#endif // VALVE_H