mirror of
https://github.com/dalathegreat/Battery-Emulator.git
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465 lines
18 KiB
C++
465 lines
18 KiB
C++
// =================================================================================================
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// eModbus: Copyright 2020 by Michael Harwerth, Bert Melis and the contributors to eModbus
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// MIT license - see license.md for details
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// =================================================================================================
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#include "options.h"
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#include "ModbusMessage.h"
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#include "RTUutils.h"
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#undef LOCAL_LOG_LEVEL
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// #define LOCAL_LOG_LEVEL LOG_LEVEL_VERBOSE
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#include "Logging.h"
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// calcCRC: calculate Modbus CRC16 on a given array of bytes
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uint16_t RTUutils::calcCRC(const uint8_t *data, uint16_t len) {
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// CRC16 pre-calculated tables
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const uint8_t crcHiTable[] = {
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
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0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
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0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
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0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
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0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
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0x40
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};
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const uint8_t crcLoTable[] = {
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0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
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0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
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0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
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0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
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0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
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0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
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0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
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0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
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0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
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0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
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0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
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0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
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0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
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0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
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0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
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0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
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0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
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0x40
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};
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uint8_t crcHi = 0xFF;
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uint8_t crcLo = 0xFF;
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uint8_t index;
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while (len--) {
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index = crcLo ^ *data++;
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crcLo = crcHi ^ crcHiTable[index];
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crcHi = crcLoTable[index];
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}
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return (crcHi << 8 | crcLo);
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}
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// calcCRC: calculate Modbus CRC16 on a given message
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uint16_t RTUutils::calcCRC(ModbusMessage msg) {
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return calcCRC(msg.data(), msg.size());
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}
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// validCRC #1: check the given CRC in a block of data for correctness
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bool RTUutils::validCRC(const uint8_t *data, uint16_t len) {
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return validCRC(data, len - 2, data[len - 2] | (data[len - 1] << 8));
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}
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// validCRC #2: check the CRC of a block of data against a given one for equality
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bool RTUutils::validCRC(const uint8_t *data, uint16_t len, uint16_t CRC) {
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uint16_t crc16 = calcCRC(data, len);
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if (CRC == crc16) return true;
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return false;
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}
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// validCRC #3: check the given CRC in a message for correctness
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bool RTUutils::validCRC(ModbusMessage msg) {
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return validCRC(msg.data(), msg.size() - 2, msg[msg.size() - 2] | (msg[msg.size() - 1] << 8));
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}
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// validCRC #4: check the CRC of a message against a given one for equality
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bool RTUutils::validCRC(ModbusMessage msg, uint16_t CRC) {
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return validCRC(msg.data(), msg.size(), CRC);
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}
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// addCRC: calculate the CRC for a given RTUMessage and add it to the end
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void RTUutils::addCRC(ModbusMessage& raw) {
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uint16_t crc16 = calcCRC(raw.data(), raw.size());
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raw.push_back(crc16 & 0xff);
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raw.push_back((crc16 >> 8) & 0xFF);
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}
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// calculateInterval: determine the minimal gap time between messages
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uint32_t RTUutils::calculateInterval(uint32_t baudRate) {
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uint32_t interval = 0;
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// silent interval is at least 3.5x character time
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interval = 35000000UL / baudRate; // 3.5 * 10 bits * 1000 µs * 1000 ms / baud
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if (interval < 1750) interval = 1750; // lower limit according to Modbus RTU standard
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LOG_V("Calc interval(%u)=%u\n", baudRate, interval);
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return interval;
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}
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// send: send a message via Serial, watching interval times - including CRC!
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void RTUutils::send(Stream& serial, unsigned long& lastMicros, uint32_t interval, RTScallback rts, const uint8_t *data, uint16_t len, bool ASCIImode) {
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// Clear serial buffers
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while (serial.available()) serial.read();
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// Treat ASCII differently
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if (ASCIImode) {
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// Toggle rtsPin, if necessary
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rts(HIGH);
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// Yes, ASCII mode. Send lead-in
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serial.write(':');
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uint16_t cnt = len;
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uint8_t crc = 0;
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uint8_t *cp = (uint8_t *)data;
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// Loop over all bytes of the message
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while (cnt--) {
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// Write two nibbles as ASCII characters
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serial.write(ASCIIwrite[(*cp >> 4) & 0x0F]);
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serial.write(ASCIIwrite[*cp & 0x0F]);
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// Advance CRC
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crc += *cp;
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// Next byte
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cp++;
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}
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// Finalize CRC (2's complement)
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crc = ~crc;
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crc++;
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// Write ist - two nibbles as ASCII characters
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serial.write(ASCIIwrite[(crc >> 4) & 0x0F]);
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serial.write(ASCIIwrite[crc & 0x0F]);
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// Send lead-out
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serial.write("\r\n");
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serial.flush();
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// Toggle rtsPin, if necessary
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rts(LOW);
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} else {
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// RTU mode
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uint16_t crc16 = calcCRC(data, len);
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// Respect interval - we must not toggle rtsPin before
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if (micros() - lastMicros < interval) delayMicroseconds(interval - (micros() - lastMicros));
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// Toggle rtsPin, if necessary
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rts(HIGH);
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// Write message
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serial.write(data, len);
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// Write CRC in LSB order
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serial.write(crc16 & 0xff);
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serial.write((crc16 >> 8) & 0xFF);
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serial.flush();
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// Toggle rtsPin, if necessary
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rts(LOW);
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}
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HEXDUMP_D("Sent packet", data, len);
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// Mark end-of-message time for next interval
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lastMicros = micros();
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}
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// send: send a message via Serial, watching interval times - including CRC!
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void RTUutils::send(Stream& serial, unsigned long& lastMicros, uint32_t interval, RTScallback rts, ModbusMessage raw, bool ASCIImode) {
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send(serial, lastMicros, interval, rts, raw.data(), raw.size(), ASCIImode);
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}
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// receive: get (any) message from Serial, taking care of timeout and interval
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ModbusMessage RTUutils::receive(uint8_t caller, Stream& serial, uint32_t timeout, unsigned long& lastMicros, uint32_t interval, bool ASCIImode, bool skipLeadingZeroBytes) {
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// Allocate initial receive buffer size: 1 block of BUFBLOCKSIZE bytes
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const uint16_t BUFBLOCKSIZE(512);
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uint8_t *buffer = new uint8_t[BUFBLOCKSIZE];
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ModbusMessage rv;
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// Index into buffer
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uint16_t bufferPtr = 0;
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// Byte read
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int b = 0;
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// State machine states, RTU mode
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enum STATES : uint8_t { WAIT_DATA = 0, IN_PACKET, DATA_READ, FINISHED };
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// State machine states, ASCII mode
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enum ASTATES : uint8_t { A_WAIT_DATA = 0, A_DATA, A_WAIT_LEAD_OUT, A_FINISHED };
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uint8_t state;
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// Timeout tracker
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unsigned long TimeOut = millis();
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// RTU mode?
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if (!ASCIImode) {
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// Yes.
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state = WAIT_DATA;
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// interval tracker
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lastMicros = micros();
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while (state != FINISHED) {
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switch (state) {
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// WAIT_DATA: await first data byte, but watch timeout
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case WAIT_DATA:
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// Blindly try to read a byte
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b = serial.read();
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// Did we get one?
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if (b >= 0) {
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// Yes. Note the time.
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lastMicros = micros();
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// Do we need to skip it, if it is zero?
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if (b > 0 || !skipLeadingZeroBytes) {
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// No, we can go process it regularly
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buffer[bufferPtr++] = b;
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state = IN_PACKET;
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}
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} else {
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// No, we had no byte. Just check the timeout period
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if (millis() - TimeOut >= timeout) {
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rv.push_back(TIMEOUT);
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state = FINISHED;
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}
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delay(1);
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}
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break;
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// IN_PACKET: read data until a gap of at least _interval time passed without another byte arriving
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case IN_PACKET:
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// tight loop until finished reading or error
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while (state == IN_PACKET) {
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// Is there a byte?
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while (serial.available()) {
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// Yes, collect it
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buffer[bufferPtr++] = serial.read();
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// Mark time of last byte
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lastMicros = micros();
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// Buffer full?
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if (bufferPtr >= BUFBLOCKSIZE) {
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// Yes. Something fishy here - bail out!
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rv.push_back(PACKET_LENGTH_ERROR);
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state = FINISHED;
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break;
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}
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}
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// No more byte read
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if (state == IN_PACKET) {
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// Are we past the interval gap?
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if (micros() - lastMicros >= interval) {
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// Yes, terminate reading
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LOG_V("%c/%ldus without data after %u\n", (const char)caller, micros() - lastMicros, bufferPtr);
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state = DATA_READ;
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break;
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}
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}
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}
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break;
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// DATA_READ: successfully gathered some data. Prepare return object.
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case DATA_READ:
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// Did we get a sensible buffer length?
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LOG_V("%c/", (const char)caller);
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HEXDUMP_V("Raw buffer received", buffer, bufferPtr);
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if (bufferPtr >= 4)
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{
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// Yes. Check CRC
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if (!validCRC(buffer, bufferPtr)) {
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// Ooops. CRC is wrong.
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rv.push_back(CRC_ERROR);
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} else {
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// CRC was fine, Now allocate response object without the CRC
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for (uint16_t i = 0; i < bufferPtr - 2; ++i) {
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rv.push_back(buffer[i]);
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}
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}
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} else {
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// No, packet was too short for anything usable. Return error
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rv.push_back(PACKET_LENGTH_ERROR);
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}
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state = FINISHED;
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break;
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// FINISHED: we are done, clean up.
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case FINISHED:
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// CLear serial buffer in case something is left trailing
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// May happen with servers too slow!
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while (serial.available()) serial.read();
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break;
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}
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}
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} else {
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// We are in ASCII mode.
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state = A_WAIT_DATA;
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// Track nibbles in a byte
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bool byteComplete = true;
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// Track bytes read
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bool hadBytes = false;
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// ASCII crc byte
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uint8_t crc = 0;
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while (state != A_FINISHED) {
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// Always watch timeout - 1s
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if (millis() - TimeOut >= timeout) {
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// Timeout! Bail out with error
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rv.push_back(TIMEOUT);
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state = A_FINISHED;
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} else {
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// Still in time. Check for another byte on serial
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if (!hadBytes && serial.available()) {
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b = serial.read();
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if (b >= 0) {
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hadBytes = true;
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}
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}
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// Only use state machine with new data arrived
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if (hadBytes) {
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// First reset timeout
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TimeOut = millis();
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// Is it a valid character?
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if ((b & 0x80) || ASCIIread[b] == 0xFF) {
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// No. Report error and leave.
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rv.clear();
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rv.push_back(ASCII_INVALID_CHAR);
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hadBytes = false;
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state = A_FINISHED;
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} else {
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// Yes, is valid. Furtheron use interpreted byte
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b = ASCIIread[b];
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switch (state) {
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// A_WAIT_DATA: await lead-in byte ':'
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case A_WAIT_DATA:
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// Is it the lead-in?
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if (b == 0xF0) {
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// Yes, proceed to data read state
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state = A_DATA;
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}
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// byte was consumed in any case
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hadBytes = false;
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break;
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// A_DATA: read data as it comes
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case A_DATA:
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// Lead-out byte 1 received?
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if (b == 0xF1) {
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// Yes. Was last buffer byte completed?
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if (byteComplete) {
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// Yes. Move to final state
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state = A_WAIT_LEAD_OUT;
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} else {
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// No, signal with error
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rv.push_back(PACKET_LENGTH_ERROR);
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state = A_FINISHED;
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}
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} else {
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// No lead-out, must be data byte.
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// Is it valid?
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if (b < 0xF0) {
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// Yes. Add it into current buffer byte
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buffer[bufferPtr] <<= 4;
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buffer[bufferPtr] += (b & 0x0F);
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// Advance nibble
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byteComplete = !byteComplete;
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// Was it the second of the byte?
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if (byteComplete) {
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// Yes. Advance CRC and move buffer pointer by one
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crc += buffer[bufferPtr];
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bufferPtr++;
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buffer[bufferPtr] = 0;
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}
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} else {
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// No, garbage. report error
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rv.push_back(ASCII_INVALID_CHAR);
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state = A_FINISHED;
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}
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}
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hadBytes = false;
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break;
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// A_WAIT_LEAD_OUT: await \n
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case A_WAIT_LEAD_OUT:
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if (b == 0xF2) {
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// Lead-out byte 2 received. Transfer buffer to returned message
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LOG_V("%c/", (const char)caller);
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HEXDUMP_V("Raw buffer received", buffer, bufferPtr);
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// Did we get a sensible buffer length?
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if (bufferPtr >= 3)
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{
|
|
// Yes. Was the CRC calculated correctly?
|
|
if (crc == 0) {
|
|
// Yes, reduce buffer by 1 to get rid of CRC byte...
|
|
bufferPtr--;
|
|
// Move data into returned message
|
|
for (uint16_t i = 0; i < bufferPtr; ++i) {
|
|
rv.push_back(buffer[i]);
|
|
}
|
|
} else {
|
|
// No, CRC calculation seems to have failed
|
|
rv.push_back(ASCII_CRC_ERR);
|
|
}
|
|
} else {
|
|
// No, packet was too short for anything usable. Return error
|
|
rv.push_back(PACKET_LENGTH_ERROR);
|
|
}
|
|
} else {
|
|
// No lead out byte 2, but something else - report error.
|
|
rv.push_back(ASCII_FRAME_ERR);
|
|
}
|
|
state = A_FINISHED;
|
|
break;
|
|
// A_FINISHED: Message completed
|
|
case A_FINISHED:
|
|
// Clean up serial buffer
|
|
while (serial.available()) serial.read();
|
|
break;
|
|
}
|
|
}
|
|
} else {
|
|
// No data received, so give the task scheduler room to breathe
|
|
delay(1);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
// Deallocate buffer
|
|
delete[] buffer;
|
|
|
|
LOG_D("%c/", (const char)caller);
|
|
HEXDUMP_D("Received packet", rv.data(), rv.size());
|
|
|
|
return rv;
|
|
}
|
|
|
|
// Lower 7 bit ASCII characters - all invalid are set to 0xFF
|
|
const char RTUutils::ASCIIread[] = {
|
|
/* 00-07 */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 08-0F */ 0xFF, 0xFF, 0xF2, 0xFF, 0xFF, 0xF1, 0xFF, 0xFF, // LF + CR
|
|
/* 10-17 */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 18-1F */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 20-27 */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 28-2F */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 30-37 */ 0, 1, 2, 3, 4, 5, 6, 7, // digits 0-7
|
|
/* 38-3F */ 8, 9, 0xF0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, // digits 8 + 9, :
|
|
/* 40-47 */ 0xFF, 10, 11, 12, 13, 14, 15, 0xFF, // digits A-F
|
|
/* 48-4F */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 50-57 */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 58-5F */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 60-67 */ 0xFF, 10, 11, 12, 13, 14, 15, 0xFF, // digits a-f
|
|
/* 68-6F */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 70-77 */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
|
|
/* 78-7F */ 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
|
|
};
|
|
|
|
// Writable ASCII chars for hex digits
|
|
const char RTUutils::ASCIIwrite[] = { 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37,
|
|
0x38, 0x39, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46
|
|
};
|