Код: Выделить всё
/*
Reg0
2 3 4 5 6 7 8 9 10 11 12
Reg1
22 24 26 28 30 31
Reg2
32 - 47
Reg3
48 49 50 51 52
*/
#include <stdio.h>
#include <unistd.h>
#include <time.h>
#include <string.h>
#include <stdlib.h>
#include <signal.h>
#include <errno.h>
#include <getopt.h>
#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;
int read_reg_start;
int read_reg_count;
int write_reg_start;
int write_reg_count;
} slavedata_t;
typedef struct {
hal_s32_t retval;
hal_float_t looptime;
hal_bit_t *Din00;
hal_bit_t *Din01;
hal_bit_t *Din02;
hal_bit_t *Din03;
hal_bit_t *Din04;
hal_bit_t *Din05;
hal_bit_t *Din06;
hal_bit_t *Din07;
hal_bit_t *Din08;
hal_bit_t *Din09;
hal_bit_t *Din010;
hal_bit_t *Din011;
hal_bit_t *Din012;
hal_bit_t *Din013;
hal_bit_t *Din014;
hal_bit_t *Din015;
hal_bit_t *Din10;
hal_bit_t *Din11;
hal_bit_t *Din12;
hal_bit_t *Din13;
hal_bit_t *Din14;
hal_bit_t *Din15;
hal_bit_t *Din16;
hal_bit_t *Din17;
hal_bit_t *Din18;
hal_bit_t *Din19;
hal_bit_t *Din110;
hal_bit_t *Din111;
hal_bit_t *Din112;
hal_bit_t *Din113;
hal_bit_t *Din114;
hal_bit_t *Din115;
hal_bit_t *Din20;
hal_bit_t *Din21;
hal_bit_t *Din22;
hal_bit_t *Din23;
hal_bit_t *Din24;
hal_bit_t *Din25;
hal_bit_t *Din26;
hal_bit_t *Din27;
hal_bit_t *Din28;
hal_bit_t *Din29;
hal_bit_t *Din210;
hal_bit_t *Din211;
hal_bit_t *Din212;
hal_bit_t *Din213;
hal_bit_t *Din214;
hal_bit_t *Din215;
hal_s32_t *Din40;
hal_s32_t *Din41;
hal_s32_t *Din42;
hal_s32_t *Din43;
hal_s32_t *Din44;
hal_s32_t *Din45;
hal_s32_t *Din46;
hal_s32_t *Din47;
hal_s32_t *Din48;
hal_s32_t *Din49;
hal_s32_t *Din410;
hal_s32_t *Din411;
hal_s32_t *Din412;
hal_s32_t *Din413;
hal_s32_t *Din414;
hal_s32_t *Din415;
hal_bit_t *Din30;
hal_bit_t *Din31;
hal_bit_t *Din32;
hal_bit_t *Din33;
hal_bit_t *Din34;
} 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;
}
static int comm_delay = 0; // JET delay counter for at-speed
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;
}
void usage(int argc, char **argv) {
printf("Usage: %s [options]\n", argv[0]);
printf(
"This is a userspace HAL program, typically loaded using the halcmd \"loadusr\" command:\n"
" loadusr gs2_vfd\n"
"There are several command-line options. Options that have a set list of possible values may\n"
" be set by using any number of characters that are unique. For example, --rate 5 will use\n"
" a baud rate of 57600, since no other available baud rates start with \"5\"\n"
"-b or --bits <n> (default 8)\n"
" Set number of data bits to <n>, where n must be from 5 to 8 inclusive\n"
"-d or --device <path> (default /dev/ttyS0)\n"
" Set the name of the serial device node to use\n"
"-g or --debug\n"
" Turn on debugging messages. This will also set the verbose flag. Debug mode will cause\n"
" all modbus messages to be printed in hex on the terminal.\n"
"-n or --name <string> (default gs2_vfd)\n"
" Set the name of the HAL module. The HAL comp name will be set to <string>, and all pin\n"
" and parameter names will begin with <string>.\n"
"-p or --parity {even,odd,none} (defalt odd)\n"
" Set serial parity to even, odd, or none.\n"
"-r or --rate <n> (default 38400)\n"
" Set baud rate to <n>. It is an error if the rate is not one of the following:\n"
" 110, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200\n"
"-s or --stopbits {1,2} (default 1)\n"
" Set serial stop bits to 1 or 2\n"
"-t or --target <n> (default 1)\n"
" Set MODBUS target (slave) number. This must match the device number you set on the GS2.\n"
"-v or --verbose\n"
" Turn on debug messages. Note that if there are serial errors, this may become annoying.\n"
" At the moment, it doesn't make much difference most of the time.\n");
}
int read_data(modbus_param_t *param, slavedata_t *slavedata, haldata_t *hal_data_block) {
int receive_data[MAX_READ_HOLD_REGS];
int retval;
int Reg0val=0;
int Reg1val=0;
int Reg2val=0;
int Reg3val=0;
//int Reg4val=0;
int mass0[16],mass1[16],mass2[16],mass3[5];
int x = 0;
if (hal_data_block == NULL)
return -1;
if ((param==NULL) || (slavedata == NULL)) {
return -1;
}
//----------------------------------------------------------------------------------------читаем цифровые входы --------регистр0
retval = read_holding_registers(param, slavedata->slave, 1 , 1 , receive_data);
if (retval==1) {
retval = 0;
hal_data_block->retval = retval;
if (retval==0) {
Reg0val = receive_data[0] ;
printf("Reg0val: %i\n", Reg0val);
x = 0;
while ( x < 16 ){
if ((Reg0val & 0x01) == 1 )
mass0[x] = 1;
else
mass0[x] = 0;
Reg0val=Reg0val>>1;
x++;
}
//*(hal_data_block->Din00) = mass0[0];
//*(hal_data_block->Din01) = mass0[1];
*(hal_data_block->Din02) = mass0[2];
*(hal_data_block->Din03) = mass0[3];
*(hal_data_block->Din04) = mass0[4];
*(hal_data_block->Din05) = mass0[5];
*(hal_data_block->Din06) = mass0[6];
*(hal_data_block->Din07) = mass0[7];
*(hal_data_block->Din08) = mass0[8];
*(hal_data_block->Din09) = mass0[9];
*(hal_data_block->Din010) = mass0[10];
*(hal_data_block->Din011) = mass0[11];
*(hal_data_block->Din012) = mass0[12];
//*(hal_data_block->Din013) = mass0[13];
//*(hal_data_block->Din014) = mass0[14];
//*(hal_data_block->Din015) = mass0[15];
retval = 0;
}
}
else {
hal_data_block->retval = retval;
retval = -1;
}
//----------------------------------------------------------------------------------------читаем цифровые входы --------регистр1
retval = read_holding_registers(param, slavedata->slave, 1 , 1 , receive_data);
if (retval==1) {
retval = 0;
hal_data_block->retval = retval;
if (retval==0) {
Reg1val = receive_data[0] ;
x = 0;
while ( x < 16 ){
if ((Reg1val & 0x01) == 1 )
mass1[x] = 1;
else
mass1[x] = 0;
Reg1val=Reg1val>>1;
x++;
}
*(hal_data_block->Din10) = mass1[0];
*(hal_data_block->Din11) = mass1[1];
*(hal_data_block->Din12) = mass1[2];
*(hal_data_block->Din13) = mass1[3];
*(hal_data_block->Din14) = mass1[4];
*(hal_data_block->Din15) = mass1[5];
*(hal_data_block->Din16) = mass1[6];
*(hal_data_block->Din17) = mass1[7];
*(hal_data_block->Din18) = mass1[8];
*(hal_data_block->Din19) = mass1[9];
*(hal_data_block->Din110) = mass1[10];
*(hal_data_block->Din111) = mass1[11];
*(hal_data_block->Din112) = mass1[12];
*(hal_data_block->Din113) = mass1[13];
*(hal_data_block->Din114) = mass1[14];
*(hal_data_block->Din115) = mass1[15];
retval = 0;
}
}
else {
hal_data_block->retval = retval;
retval = -1;
}
//----------------------------------------------------------------------------------------читаем аналоговые входы --------регистр4
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->Din40) = receive_data[0] ;
*(hal_data_block->Din41) = receive_data[1] ;
*(hal_data_block->Din42) = receive_data[2] ;
*(hal_data_block->Din43) = receive_data[3] ;
*(hal_data_block->Din44) = receive_data[4] ;
*(hal_data_block->Din45) = receive_data[5] ;
*(hal_data_block->Din46) = receive_data[6] ;
*(hal_data_block->Din47) = receive_data[7] ;
*(hal_data_block->Din48) = receive_data[8] ;
*(hal_data_block->Din49) = receive_data[9] ;
*(hal_data_block->Din410) = receive_data[10];
*(hal_data_block->Din411) = receive_data[11];
*(hal_data_block->Din412) = receive_data[12];
*(hal_data_block->Din413) = receive_data[13];
*(hal_data_block->Din414) = receive_data[14];
*(hal_data_block->Din415) = receive_data[15];
retval = 0;
}
} else {
hal_data_block->retval = retval;
retval = -1;
}
//----------------------------------------------------------------------------------------читаем цифровые входы --------регистр2
retval = read_holding_registers(param, slavedata->slave, 2 , 1 , receive_data);
if (retval==1) {
retval = 0;
hal_data_block->retval = retval;
if (retval==0) {
Reg2val = receive_data[0] ;
x = 0;
while ( x < 16 ){
if ((Reg2val & 0x01) == 1 )
mass2[x] = 1;
else
mass2[x] = 0;
Reg2val=Reg2val>>1;
x++;
}
*(hal_data_block->Din20) = mass2[0];
*(hal_data_block->Din21) = mass2[1];
*(hal_data_block->Din22) = mass2[2];
*(hal_data_block->Din23) = mass2[3];
*(hal_data_block->Din24) = mass2[4];
*(hal_data_block->Din25) = mass2[5];
*(hal_data_block->Din26) = mass2[6];
*(hal_data_block->Din27) = mass2[7];
*(hal_data_block->Din28) = mass2[8];
*(hal_data_block->Din29) = mass2[9];
*(hal_data_block->Din210) = mass2[10];
*(hal_data_block->Din211) = mass2[11];
*(hal_data_block->Din212) = mass2[12];
*(hal_data_block->Din213) = mass2[13];
*(hal_data_block->Din214) = mass2[14];
*(hal_data_block->Din215) = mass2[15];
retval = 0;
}
}
else {
hal_data_block->retval = retval;
retval = -1;
}
//----------------------------------------------------------------------------------------читаем цифровые входы --------регистр3
retval = read_holding_registers(param, slavedata->slave, 3 , 1 , receive_data);
if (retval==1) {
retval = 0;
hal_data_block->retval = retval;
if (retval==0) {
Reg3val = receive_data[0] ;
x=0;
while ( x < 5 ){
if ((Reg3val & 0x01) == 1 )
mass3[x] = 1;
else
mass3[x] = 0;
Reg3val=Reg3val>>1;
x++;
}
*(hal_data_block->Din30) = mass3[0];
*(hal_data_block->Din31) = mass3[1];
*(hal_data_block->Din32) = mass3[2];
*(hal_data_block->Din33) = mass3[3];
*(hal_data_block->Din34) = mass3[4];
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;
baud = 19200;
bits = 8;
stopbits = 1;
debug = 0;
verbose = 0;
device = "/dev/ttyACM0";
parity = "none";
slavedata.slave = 1;
slavedata.read_reg_start = START_REGISTER_R;
slavedata.read_reg_count = NUM_REGISTERS_R;
slavedata.write_reg_start = START_REGISTER_W;
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;
case 'h':
default:
usage(argc, argv);
exit(0);
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);
modbus_init_rtu(&mb_param, device, baud, parity, bits, stopbits, verbose);
mb_param.debug = debug;
if (((retval = modbus_connect(&mb_param))!=0) || done) {
printf("%s: ERROR: couldn't open serial device\n", modname);
goto out_noclose;
}
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;
}
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;
}
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din00), hal_comp_id, "%s.Din0-00" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din01), hal_comp_id, "%s.Din0-01" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din02), hal_comp_id, "%s.Din0-02" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din03), hal_comp_id, "%s.Din0-03" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din04), hal_comp_id, "%s.Din0-04" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din05), hal_comp_id, "%s.Din0-05" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din06), hal_comp_id, "%s.Din0-06" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din07), hal_comp_id, "%s.Din0-07" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din08), hal_comp_id, "%s.Din0-08" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din09), hal_comp_id, "%s.Din0-09" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din010), hal_comp_id, "%s.Din0-10", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din011), hal_comp_id, "%s.Din0-11", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din012), hal_comp_id, "%s.Din0-12", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din013), hal_comp_id, "%s.Din0-13", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din014), hal_comp_id, "%s.Din0-14", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din015), hal_comp_id, "%s.Din0-15", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din10), hal_comp_id, "%s.Din1-00" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din11), hal_comp_id, "%s.Din1-01" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din12), hal_comp_id, "%s.Din1-02" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din13), hal_comp_id, "%s.Din1-03" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din14), hal_comp_id, "%s.Din1-04" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din15), hal_comp_id, "%s.Din1-05" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din16), hal_comp_id, "%s.Din1-06" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din17), hal_comp_id, "%s.Din1-07" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din18), hal_comp_id, "%s.Din1-08" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din19), hal_comp_id, "%s.Din1-09" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din110), hal_comp_id, "%s.Din1-10", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din111), hal_comp_id, "%s.Din1-11", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din112), hal_comp_id, "%s.Din1-12", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din113), hal_comp_id, "%s.Din1-13", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din114), hal_comp_id, "%s.Din1-14", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din115), hal_comp_id, "%s.Din1-15", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din20), hal_comp_id, "%s.Din2-00" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din21), hal_comp_id, "%s.Din2-01" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din22), hal_comp_id, "%s.Din2-02" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din23), hal_comp_id, "%s.Din2-03" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din24), hal_comp_id, "%s.Din2-04" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din25), hal_comp_id, "%s.Din2-05" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din26), hal_comp_id, "%s.Din2-06" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din27), hal_comp_id, "%s.Din2-07" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din28), hal_comp_id, "%s.Din2-08" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din29), hal_comp_id, "%s.Din2-09" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din210), hal_comp_id, "%s.Din2-10", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din211), hal_comp_id, "%s.Din2-11", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din212), hal_comp_id, "%s.Din2-12", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din213), hal_comp_id, "%s.Din2-13", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din214), hal_comp_id, "%s.Din2-14", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din215), hal_comp_id, "%s.Din2-15", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din30), hal_comp_id, "%s.Din3-00" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din31), hal_comp_id, "%s.Din3-01" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din32), hal_comp_id, "%s.Din3-02" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din33), hal_comp_id, "%s.Din3-03" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_bit_newf(HAL_OUT, &(haldata->Din34), hal_comp_id, "%s.Din3-04" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din40), hal_comp_id, "%s.Din4-00" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din41), hal_comp_id, "%s.Din4-01" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din42), hal_comp_id, "%s.Din4-02" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din43), hal_comp_id, "%s.Din4-03" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din44), hal_comp_id, "%s.Din4-04" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din45), hal_comp_id, "%s.Din4-05" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din46), hal_comp_id, "%s.Din4-06" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din47), hal_comp_id, "%s.Din4-07" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din48), hal_comp_id, "%s.Din4-08" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din49), hal_comp_id, "%s.Din4-09" , modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din410), hal_comp_id, "%s.Din4-10", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din411), hal_comp_id, "%s.Din4-11", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din412), hal_comp_id, "%s.Din4-12", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din413), hal_comp_id, "%s.Din4-13", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din414), hal_comp_id, "%s.Din4-14", modname); if (retval!=0) goto out_closeHAL;
retval = hal_pin_s32_newf(HAL_OUT, &(haldata->Din415), hal_comp_id, "%s.Din4-15", modname); if (retval!=0) goto out_closeHAL;
*(haldata->Din00) = 0;
*(haldata->Din01) = 0;
*(haldata->Din02) = 0;
*(haldata->Din03) = 0;
*(haldata->Din04) = 0;
*(haldata->Din05) = 0;
*(haldata->Din06) = 0;
*(haldata->Din07) = 0;
*(haldata->Din08) = 0;
*(haldata->Din09) = 0;
*(haldata->Din010) = 0;
*(haldata->Din011) = 0;
*(haldata->Din012) = 0;
*(haldata->Din013) = 0;
*(haldata->Din014) = 0;
*(haldata->Din015) = 0;
*(haldata->Din10) = 0;
*(haldata->Din11) = 0;
*(haldata->Din12) = 0;
*(haldata->Din13) = 0;
*(haldata->Din14) = 0;
*(haldata->Din15) = 0;
*(haldata->Din16) = 0;
*(haldata->Din17) = 0;
*(haldata->Din18) = 0;
*(haldata->Din19) = 0;
*(haldata->Din110) = 0;
*(haldata->Din111) = 0;
*(haldata->Din112) = 0;
*(haldata->Din113) = 0;
*(haldata->Din114) = 0;
*(haldata->Din115) = 0;
*(haldata->Din20) = 0;
*(haldata->Din21) = 0;
*(haldata->Din22) = 0;
*(haldata->Din23) = 0;
*(haldata->Din24) = 0;
*(haldata->Din25) = 0;
*(haldata->Din26) = 0;
*(haldata->Din27) = 0;
*(haldata->Din28) = 0;
*(haldata->Din29) = 0;
*(haldata->Din210) = 0;
*(haldata->Din211) = 0;
*(haldata->Din212) = 0;
*(haldata->Din213) = 0;
*(haldata->Din214) = 0;
*(haldata->Din215) = 0;
*(haldata->Din30) = 0;
*(haldata->Din31) = 0;
*(haldata->Din32) = 0;
*(haldata->Din33) = 0;
*(haldata->Din34) = 0;
*(haldata->Din40) = 0;
*(haldata->Din41) = 0;
*(haldata->Din42) = 0;
*(haldata->Din43) = 0;
*(haldata->Din44) = 0;
*(haldata->Din45) = 0;
*(haldata->Din46) = 0;
*(haldata->Din47) = 0;
*(haldata->Din48) = 0;
*(haldata->Din49) = 0;
*(haldata->Din410) = 0;
*(haldata->Din411) = 0;
*(haldata->Din412) = 0;
*(haldata->Din413) = 0;
*(haldata->Din414) = 0;
*(haldata->Din415) = 0;
while (done==0) {
read_data(&mb_param, &slavedata, haldata);
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;
out_closeHAL:
hal_exit(hal_comp_id);
out_close:
modbus_close(&mb_param);
out_noclose:
return retval;
}
) там у меня все нормально.