px4-firmware/apps/modbus/functions/mbfuncdisc.c

 /*
  * FreeRTOS Modbus Libary: A Modbus serial implementation for FreeRTOS
  * Copyright (C) 2006 Christian Walter <wolti@sil.at>
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
  * License as published by the Free Software Foundation; either
  * version 2.1 of the License, or (at your option) any later version.
  *
  * This library is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  * Lesser General Public License for more details.
  *
  * You should have received a copy of the GNU Lesser General Public
  * License along with this library; if not, write to the Free Software
  * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
  */

/* ----------------------- System includes ----------------------------------*/
#include <nuttx/config.h>
#include <stdlib.h>
#include <string.h>

/* ----------------------- Platform includes --------------------------------*/
#include "port.h"

/* ----------------------- Modbus includes ----------------------------------*/
#include <apps/modbus/mb.h>
#include <apps/modbus/mbframe.h>
#include <apps/modbus/mbproto.h>

/* ----------------------- Defines ------------------------------------------*/
#define MB_PDU_FUNC_READ_ADDR_OFF           ( MB_PDU_DATA_OFF )
#define MB_PDU_FUNC_READ_DISCCNT_OFF        ( MB_PDU_DATA_OFF + 2 )
#define MB_PDU_FUNC_READ_SIZE               ( 4 )
#define MB_PDU_FUNC_READ_DISCCNT_MAX        ( 0x07D0 )

/* ----------------------- Static functions ---------------------------------*/
eMBException    prveMBError2Exception( eMBErrorCode eErrorCode );

/* ----------------------- Start implementation -----------------------------*/

#ifdef CONFIG_MB_FUNC_READ_COILS_ENABLED

eMBException
eMBFuncReadDiscreteInputs( uint8_t * pucFrame, uint16_t * usLen )
{
    uint16_t        usRegAddress;
    uint16_t        usDiscreteCnt;
    uint8_t         ucNBytes;
    uint8_t        *pucFrameCur;

    eMBException    eStatus = MB_EX_NONE;
    eMBErrorCode    eRegStatus;

    if( *usLen == ( MB_PDU_FUNC_READ_SIZE + MB_PDU_SIZE_MIN ) )
    {
        usRegAddress = ( uint16_t )( pucFrame[MB_PDU_FUNC_READ_ADDR_OFF] << 8 );
        usRegAddress |= ( uint16_t )( pucFrame[MB_PDU_FUNC_READ_ADDR_OFF + 1] );
        usRegAddress++;

        usDiscreteCnt = ( uint16_t )( pucFrame[MB_PDU_FUNC_READ_DISCCNT_OFF] << 8 );
        usDiscreteCnt |= ( uint16_t )( pucFrame[MB_PDU_FUNC_READ_DISCCNT_OFF + 1] );

        /* Check if the number of registers to read is valid. If not
         * return Modbus illegal data value exception. 
         */
        if( ( usDiscreteCnt >= 1 ) &&
            ( usDiscreteCnt < MB_PDU_FUNC_READ_DISCCNT_MAX ) )
        {
            /* Set the current PDU data pointer to the beginning. */
            pucFrameCur = &pucFrame[MB_PDU_FUNC_OFF];
            *usLen = MB_PDU_FUNC_OFF;

            /* First byte contains the function code. */
            *pucFrameCur++ = MB_FUNC_READ_DISCRETE_INPUTS;
            *usLen += 1;

            /* Test if the quantity of coils is a multiple of 8. If not last
             * byte is only partially field with unused coils set to zero. */
            if( ( usDiscreteCnt & 0x0007 ) != 0 )
            {
                ucNBytes = ( uint8_t ) ( usDiscreteCnt / 8 + 1 );
            }
            else
            {
                ucNBytes = ( uint8_t ) ( usDiscreteCnt / 8 );
            }
            *pucFrameCur++ = ucNBytes;
            *usLen += 1;

            eRegStatus =
                eMBRegDiscreteCB( pucFrameCur, usRegAddress, usDiscreteCnt );

            /* If an error occured convert it into a Modbus exception. */
            if( eRegStatus != MB_ENOERR )
            {
                eStatus = prveMBError2Exception( eRegStatus );
            }
            else
            {
                /* The response contains the function code, the starting address
                 * and the quantity of registers. We reuse the old values in the 
                 * buffer because they are still valid. */
                *usLen += ucNBytes;;
            }
        }
        else
        {
            eStatus = MB_EX_ILLEGAL_DATA_VALUE;
        }
    }
    else
    {
        /* Can't be a valid read coil register request because the length
         * is incorrect. */
        eStatus = MB_EX_ILLEGAL_DATA_VALUE;
    }
    return eStatus;
}

#endif