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ModbusSlave.ino
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ModbusSlave.ino
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/*
Modbus Slave designed for Mach 3 CNC Software
Written by: Tim W. Shilling, March 4, 2012.
Released into the Public Domain
*/
//############################################
// Supportted Functions
// 1: Read Coil
// 2: Read Descrete Input
// 3: Read Holding Reg
// 4: Read Input Reg
// 5: Write Single Coil
// 6: Write Single Reg
// 7 Read Exception
// 15: Write Multiple Coils
// 16: Write Multiple Holding Reg
// Notes on Timing:
// Original Design implemented Timer 1 and 0, but these conflict with the PWM generators
// Timers dropped for millis and micros functions. Not as accurate but fine for this purpose
//################# INCLUDES #################
#include <Modbus_Slave.h> // Ensure you have included the libraries in the Arduino Libraries folder
//################# DEFINES ##################
#define Baudrate 19200 //Desired Baud Rate, Recommend, 9600, 19200, 56800, 115200
#define Freq 16000000 //Don't Touch unless using a differnt board, Freq of Processor
#define Slave_Address 0x01 //Address of MODBus Slave
#define Kill_Time 2000 //2 Sec (2000msec) keep alive, 0 => OFF
//############ REGISTER DEFINES ############# // Each Register is 16bit
#define Digital_IO_Register 0
#define PWM_Register 10
#define AN_Register 30
#define Timer_Register 50
#define IO_Config_Register 60
#define Kill_IO_Register 70
#define PWMIOMap_Register 80
#define ANIOMap_Register 81
#define General_Config 90
#define Error_Register 91
#define Digital_IO_Pins 53 //Total number of Digital IO pins, Limits update scanner pin count
#define Number_Of_Registers 100
//############ GLOBAL VARIABLES ##############
unsigned char Data[256]; // All received data ends up in here, also used as output buffer
unsigned short Index = 0; // Current Location in Data
unsigned short Register[Number_Of_Registers]; // Where all user data, Coils/Registers are kept
ModBusSlave ModBus(Slave_Address,Register,Number_Of_Registers); // Initialize a new ModBus Slave, Again, you must have my Arduino ModBusSlave Library
unsigned long Last_Time=0;
unsigned long Time = 0;
unsigned long LongBreakTime; //Time for 3.5 characters to be RX
//################## Setup ###################
// Takes: Nothing
// Returns: Nothing
// Effect: Opens Serial port 1 at defined Baudrate
// Configures all Pins
// Initiallized Timer 1
void setup()
{
//################ Initialize IO ################# // 0 => Output, 1 => Input, opposite of normal Arduino, but my habit from other platforms, 0 looks like an O and 1 looks like an I
Register[IO_Config_Register] = 0b1101111111111111; // UNO and MEGA PIN 00-15
Register[IO_Config_Register+1] = 0b1111111111111111; // MEGA PIN 16-31
Register[IO_Config_Register+2] = 0b1111111111111111; // MEGA PIN 32-47
Register[IO_Config_Register+3] = 0b1111111111111111; // MEGA PIN 48-64
Register[IO_Config_Register+4] = 0b1111111111111111; // AN Digital PIN A0-A16
//################ Kill IO Register ################# // 0 => Leave, 1 => Kill
Register[Kill_IO_Register] = 0b1111111111111111; // UNO and MEGA PIN 00-15
Register[Kill_IO_Register+1] = 0b1111111111111111; // MEGA PIN 16-31
Register[Kill_IO_Register+2] = 0b1111111111111111; // MEGA PIN 32-47
Register[Kill_IO_Register+3] = 0b1111111111111111; // MEGA PIN 48-64
Register[Kill_IO_Register+4] = 0b1111111111111111; // AN Digital PIN A0-A16
//################ PWM IO Register ################# // 0 => Normal I/O, 1 => PWM I/O
Register[PWMIOMap_Register] = 0b0000000000000000; // UNO and MEGA PWM 01-16
//################ AN IO Register ################# // 0 => Digital, 1=> Analog
Register[ANIOMap_Register] = 0b0000000000000000; // UNO and MEGA
Config_IO();
LongBreakTime = (long)((long)28000000.0/(long)Baudrate);
if(Baudrate > 19200)
LongBreakTime = 1750; // 1.75 msec
Serial.begin(Baudrate); // Open Serial port at Defined Baudrate
Time = micros(); // Preload Time variable with current System microsec
}
//################ Main Loop #################
// Takes: Nothing
// Returns: Nothing
// Effect: Main Program Loop
unsigned long LongKillTime = (long)((long)Kill_Time * (long)1000); //Time ellapsed between RX that causes system Kill
unsigned long Keep_Alive = 0; // Keep Alive Counter Variable
void loop()
{
Update_Time();
if(Keep_Alive >= LongKillTime){ // Communications not Received in Kill_Time, Execute Lost Comm Emerency Procedure
if(Kill_Time != 0){ // If Kill_Time is 0, then disable Lost Comm Check
Keep_Alive = LongKillTime; // Avoid Keep_Alive rollover
ModBus.Error = 0xff; // Set error code to Lost Comm
Register[Error_Register] = ModBus.Error; // Set Error Register
Kill_IO(); // Kill what should be killed
//digitalWrite(13,1); // Indicate Error with Solid LED
}
}
else
{
Update_Pin_States(); // Update Digital Pins
Update_AN_States(); // Update Analog Pins
/*if(ModBus.Error != 0){ // Flash Error LED is ModBus Error != 0
digitalWrite(13,bitRead(Time,11)); // Toggle LED
}
else // If no Error
{
digitalWrite(13,0); // Turn off LED
}*/
}
//######################## RX Data ###############################
if (Serial.available() > 0) // If Data Avilable
{
Data[Index] = (unsigned char)Serial.read(); // Read Next Char
Keep_Alive = 0; // Reset Keep Alive counter
Last_Time = micros(); // Update Last_Time to current Time
Index++; // Move Index Counter Forward
}
//##################### Process Data #############################
if(Index > 0) // If there are bytes to be read
{
if(Keep_Alive >= LongBreakTime) // Transmission Complete, 3.5 char spacing observered
{
Register[Timer_Register] = (unsigned int)(millis() / 125.0); // Converts to 1/8sec and load into Register
ModBus.Process_Data(Data,Index); // Process Data
if(ModBus.Error == 0) // If no Errors, then...
{
Keep_Alive = 0; // Reset Keep Alive
Last_Time = micros(); // Set Last_Time to current time
}
else // If there was an error
{
Register[Error_Register] = ModBus.Error;// Set Error Code
}
Index = 0; // Reset Index to 0, no bytes to read
}
}
}
//################ Update Time #################
// Takes: Nothing
// Returns: Nothing
// Effect: Updates Timer Register
// Updates KeepAlive Count
void Update_Time()
{
Last_Time = Time; // Set Last_Time to Current Time
Time = micros();
if(Time < Last_Time) // Counter has rolled over, should take 70 Min
{
Last_Time = 0; // Introduces a small clitch in timing by not accounting for how bad the roll over was. Happens every 70 Min
// Result is Delta will be smaller than it should be, Kill and Character Spacing will be usec longer than they should
}
Keep_Alive += Time - Last_Time; // Increment Keep Alive counter
Register[Timer_Register] = (unsigned int)(millis() / 125.0); // Converts to 1/8sec and load into Register
}
//EOF