#include #include #include #include #include #include #include #include #include "rtapi.h" #include "hal.h" #include "modbus.h" #define START_REGISTER_R 0x1E #define NUM_REGISTERS_R 16 #define START_REGISTER_W 0 #define NUM_REGISTERS_W 3 #undef DEBUG typedef struct { int slave; /* slave address */ int read_reg_start; /* starting read register number */ int read_reg_count; /* number of registers to read */ int write_reg_start; /* starting write register number */ int write_reg_count; /* number of registers to write */ } slavedata_t; typedef struct { hal_s32_t *Ain0; hal_s32_t *Ain1; hal_s32_t *Ain2; hal_s32_t *Ain3; hal_s32_t *Ain4; hal_s32_t *Ain5; hal_s32_t *Ain6; hal_s32_t *Ain7; hal_s32_t *Ain8; hal_s32_t *Ain9; hal_s32_t *Ain10; hal_s32_t *Ain11; hal_s32_t *Ain12; hal_s32_t *Ain13; hal_s32_t *Ain14; hal_s32_t *Ain15; hal_float_t *pwm1; hal_float_t *pwm2; hal_float_t *pwm3; hal_float_t *pwm4; hal_float_t *pwm5; hal_float_t *pwm6; hal_bit_t *Dout1; hal_bit_t *Dout2; hal_bit_t *Dout3; hal_bit_t *Dout4; hal_bit_t *Dout8; hal_bit_t *Dout9; hal_bit_t *Dout12; hal_s32_t retval; hal_float_t looptime; } haldata_t; static int done; char *modname = "arduino"; static struct option long_options[] = { {"bits", 1, 0, 'b'}, {"device", 1, 0, 'd'}, {"debug", 0, 0, 'g'}, {"help", 0, 0, 'h'}, {"name", 1, 0, 'n'}, {"parity", 1, 0, 'p'}, {"rate", 1, 0, 'r'}, {"stopbits", 1, 0, 's'}, {"target", 1, 0, 't'}, {"verbose", 0, 0, 'v'}, {0,0,0,0} }; static char *option_string = "b:d:hn:p:r:s:t:v"; static char *bitstrings[] = {"5", "6", "7", "8", NULL}; static char *paritystrings[] = {"even", "odd", "none", NULL}; static char *ratestrings[] = {"110", "300", "600", "1200", "2400", "4800", "9600", "19200", "38400", "57600", "115200", NULL}; static char *stopstrings[] = {"1", "2", NULL}; static void quit(int sig) { done = 1; } int match_string(char *string, char **matches) { int len, which, match; which=0; match=-1; if ((matches==NULL) || (string==NULL)) return -1; len = strlen(string); while (matches[which] != NULL) { if ((!strncmp(string, matches[which], len)) && (len <= strlen(matches[which]))) { if (match>=0) return -1; // multiple matches match=which; } ++which; } return match; } int write_data(modbus_param_t *param, slavedata_t *slavedata, haldata_t *haldata) { //============== write ==================== int retval; int v0; //0b0000111001101000 // 98 5 3 v0 = (*(haldata->Dout1)) | (*(haldata->Dout2))<<1| (*(haldata->Dout3))<<2| (*(haldata->Dout4)<<4)| (*(haldata->Dout8))<<7| (*(haldata->Dout9))<<8| (*(haldata->Dout12)<<11); printf("gs2_vfd: pwm1: %i\n", v0); retval = preset_single_register(param, 1, 0, v0); //посылаем в устройство1, регистр 0 число v0 preset_single_register(param, 1, 2, v0); //шим preset_single_register(param, 1, 13, abs((int)(*(haldata->pwm1)))); //(13,15,16,19,20,21) preset_single_register(param, 1, 15, abs((int)(*(haldata->pwm2)))); preset_single_register(param, 1, 16, abs((int)(*(haldata->pwm3)))); preset_single_register(param, 1, 19, abs((int)(*(haldata->pwm4)))); preset_single_register(param, 1, 20, abs((int)(*(haldata->pwm5)))); preset_single_register(param, 1, 21, abs((int)(*(haldata->pwm6)))); return retval; } int read_data(modbus_param_t *param, slavedata_t *slavedata, haldata_t *hal_data_block) { int receive_data[MAX_READ_HOLD_REGS]; /* a little padding in there */ int retval; /* can't do anything with a null HAL data block */ if (hal_data_block == NULL) return -1; /* but we can signal an error if the other params are null */ if ((param==NULL) || (slavedata == NULL)) { return -1; } retval = read_holding_registers(param, slavedata->slave, slavedata->read_reg_start, slavedata->read_reg_count, receive_data); if (retval==slavedata->read_reg_count) { retval = 0; hal_data_block->retval = retval; if (retval==0) { *(hal_data_block->Ain0) = receive_data[0] ; *(hal_data_block->Ain1) = receive_data[1] ; *(hal_data_block->Ain2) = receive_data[2] ; *(hal_data_block->Ain3) = receive_data[3] ; *(hal_data_block->Ain4) = receive_data[4] ; *(hal_data_block->Ain5) = receive_data[5] ; *(hal_data_block->Ain6) = receive_data[6] ; *(hal_data_block->Ain7) = receive_data[7] ; *(hal_data_block->Ain8) = receive_data[8] ; *(hal_data_block->Ain9) = receive_data[9] ; *(hal_data_block->Ain10) = receive_data[10]; *(hal_data_block->Ain11) = receive_data[11]; *(hal_data_block->Ain12) = receive_data[12] ; *(hal_data_block->Ain13) = receive_data[13] ; *(hal_data_block->Ain14) = receive_data[14]; *(hal_data_block->Ain15) = receive_data[15]; retval = 0; } } else { hal_data_block->retval = retval; retval = -1; } return retval; } int main(int argc, char **argv) { int retval; modbus_param_t mb_param; haldata_t *haldata; slavedata_t slavedata; int hal_comp_id; struct timespec loop_timespec, remaining; int baud, bits, stopbits, debug, verbose; char *device, *parity, *endarg; int opt; int argindex, argvalue; done = 0; // assume that nothing is specified on the command line baud = 38400; bits = 8; stopbits = 1; debug = 0; verbose = 0; device = "/dev/ttyS0"; parity = "odd"; /* slave / register info */ slavedata.slave = 1; slavedata.read_reg_start = START_REGISTER_R; slavedata.read_reg_count = NUM_REGISTERS_R; slavedata.write_reg_start = START_REGISTER_W; printf("gs2_vfd: write_reg_start: %i\n", slavedata.write_reg_start); slavedata.write_reg_count = NUM_REGISTERS_R; // process command line options while ((opt=getopt_long(argc, argv, option_string, long_options, NULL)) != -1) { switch(opt) { case 'b': // serial data bits, probably should be 8 (and defaults to 8) argindex=match_string(optarg, bitstrings); if (argindex<0) { printf("gs2_vfd: ERROR: invalid number of bits: %s\n", optarg); retval = -1; goto out_noclose; } bits = atoi(bitstrings[argindex]); break; case 'd': // device name, default /dev/ttyS0 // could check the device name here, but we'll leave it to the library open if (strlen(optarg) > FILENAME_MAX) { printf("gs2_vfd: ERROR: device node name is too long: %s\n", optarg); retval = -1; goto out_noclose; } device = strdup(optarg); break; case 'g': debug = 1; verbose = 1; break; case 'n': // module base name if (strlen(optarg) > HAL_NAME_LEN-20) { printf("gs2_vfd: ERROR: HAL module name too long: %s\n", optarg); retval = -1; goto out_noclose; } modname = strdup(optarg); break; case 'p': // parity, should be a string like "even", "odd", or "none" argindex=match_string(optarg, paritystrings); if (argindex<0) { printf("gs2_vfd: ERROR: invalid parity: %s\n", optarg); retval = -1; goto out_noclose; } parity = paritystrings[argindex]; break; case 'r': // Baud rate, 38400 default argindex=match_string(optarg, ratestrings); if (argindex<0) { printf("gs2_vfd: ERROR: invalid baud rate: %s\n", optarg); retval = -1; goto out_noclose; } baud = atoi(ratestrings[argindex]); break; case 's': // stop bits, defaults to 1 argindex=match_string(optarg, stopstrings); if (argindex<0) { printf("gs2_vfd: ERROR: invalid number of stop bits: %s\n", optarg); retval = -1; goto out_noclose; } stopbits = atoi(stopstrings[argindex]); break; case 't': // target number (MODBUS ID), default 1 argvalue = strtol(optarg, &endarg, 10); if ((*endarg != '\0') || (argvalue < 1) || (argvalue > 254)) { printf("gs2_vfd: ERROR: invalid slave number: %s\n", optarg); retval = -1; goto out_noclose; } slavedata.slave = argvalue; break; case 'v': // verbose mode (print modbus errors and other information), default 0 verbose = 1; break; } } printf("%s: device='%s', baud=%d, bits=%d, parity='%s', stopbits=%d, address=%d, verbose=%d\n", modname, device, baud, bits, parity, stopbits, slavedata.slave, debug); /* point TERM and INT signals at our quit function */ /* if a signal is received between here and the main loop, it should prevent some initialization from happening */ signal(SIGINT, quit); signal(SIGTERM, quit); /* Assume 38.4k O-8-1 serial settings, device 1 */ modbus_init_rtu(&mb_param, device, baud, parity, bits, stopbits, verbose); mb_param.debug = debug; /* the open has got to work, or we're out of business */ if (((retval = modbus_connect(&mb_param))!=0) || done) { printf("%s: ERROR: couldn't open serial device\n", modname); goto out_noclose; } /* create HAL component */ hal_comp_id = hal_init(modname); if ((hal_comp_id < 0) || done) { printf("%s: ERROR: hal_init failed\n", modname); retval = hal_comp_id; goto out_close; } /* grab some shmem to store the HAL data in */ haldata = (haldata_t *)hal_malloc(sizeof(haldata_t)); if ((haldata == 0) || done) { printf("%s: ERROR: unable to allocate shared memory\n", modname); retval = -1; goto out_close; } /* int rer; for (rer = 1 ; rer < 2 ; rer++){ retval = hal_pin_bit_newf(HAL_IN, &(haldata->button1), hal_comp_id, "%s.button%s", modname , rer); if (retval!=0) goto out_closeHAL; } */ retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain0), hal_comp_id, "%s.Ain0", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain1), hal_comp_id, "%s.Ain1", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain2), hal_comp_id, "%s.Ain2", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain3), hal_comp_id, "%s.Ain3", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain4), hal_comp_id, "%s.Ain4", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain5), hal_comp_id, "%s.Ain5", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain6), hal_comp_id, "%s.Ain6", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain7), hal_comp_id, "%s.Ain7", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain8), hal_comp_id, "%s.Ain8", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain9), hal_comp_id, "%s.Ain9", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain10), hal_comp_id, "%s.Ain10", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain11), hal_comp_id, "%s.Ain11", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain12), hal_comp_id, "%s.Ain12", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain13), hal_comp_id, "%s.Ain13", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain14), hal_comp_id, "%s.Ain14", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Ain15), hal_comp_id, "%s.Ain15", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_float_newf(HAL_IN, &(haldata->pwm1), hal_comp_id, "%s.pwm1", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_float_newf(HAL_IN, &(haldata->pwm2), hal_comp_id, "%s.pwm2", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_float_newf(HAL_IN, &(haldata->pwm3), hal_comp_id, "%s.pwm3", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_float_newf(HAL_IN, &(haldata->pwm4), hal_comp_id, "%s.pwm4", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_float_newf(HAL_IN, &(haldata->pwm5), hal_comp_id, "%s.pwm5", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_float_newf(HAL_IN, &(haldata->pwm6), hal_comp_id, "%s.pwm6", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout1), hal_comp_id, "%s.Dout1", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout2), hal_comp_id, "%s.Dout2", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout3), hal_comp_id, "%s.Dout3", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout4), hal_comp_id, "%s.Dout4", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout8), hal_comp_id, "%s.Dout8", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout9), hal_comp_id, "%s.Dout9", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_bit_newf(HAL_IN, &(haldata->Dout12), hal_comp_id, "%s.Dout12", modname); if (retval!=0) goto out_closeHAL; /* make default data match what we expect to use */ *(haldata->Ain0) = 0; *(haldata->Ain1) = 0; *(haldata->Ain2) = 0; *(haldata->Ain3) = 0; *(haldata->Ain4) = 0; *(haldata->Ain5) = 0; *(haldata->Ain6) = 0; *(haldata->Ain7) = 0; *(haldata->Ain8) = 0; *(haldata->Ain9) = 0; *(haldata->Ain10) = 0; *(haldata->Ain11) = 0; *(haldata->Ain12) = 0; *(haldata->Ain13) = 0; *(haldata->Ain14) = 0; *(haldata->Ain15) = 0; *(haldata->Dout1) = 0; *(haldata->Dout2) = 0; *(haldata->Dout3) = 0; *(haldata->Dout4) = 0; *(haldata->Dout8) = 0; *(haldata->Dout9) = 0; *(haldata->Dout12) = 0; /* here's the meat of the program. loop until done (which may be never) */ while (done==0) { read_data(&mb_param, &slavedata, haldata); write_data(&mb_param, &slavedata, haldata); /* don't want to scan too fast, and shouldn't delay more than a few seconds */ if (haldata->looptime < 0.001) haldata->looptime = 0.001; if (haldata->looptime > 2.0) haldata->looptime = 2.0; loop_timespec.tv_sec = (time_t)(haldata->looptime); loop_timespec.tv_nsec = (long)((haldata->looptime - loop_timespec.tv_sec) * 1000000000l); nanosleep(&loop_timespec, &remaining); } retval = 0; /* if we get here, then everything is fine, so just clean up and exit */ out_closeHAL: hal_exit(hal_comp_id); out_close: modbus_close(&mb_param); out_noclose: return retval; }