mirror of
https://github.com/grblHAL/core.git
synced 2026-02-06 00:52:35 +08:00
c2450947ae
Added 5s timeout/abort handling when waiting for index pulses prior to startiong spindle synchronized motion. Added definitions for M401 (deploy probe) and M402 (stow probe) for plugin use. Added support for probe protected message and alarm. Requires driver support for interrupt handled probe input.
101 lines
2.3 KiB
C
101 lines
2.3 KiB
C
/*
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modbus.h - a lightweight ModBus implementation, interface wrapper
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Part of grblHAL
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Copyright (c) 2023 Terje Io
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "modbus.h"
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#include <string.h>
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#define N_MODBUS_API 2
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static uint_fast16_t n_api = 0, tcp_api = N_MODBUS_API, rtu_api = N_MODBUS_API;
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static modbus_api_t modbus[N_MODBUS_API] = {0};
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bool modbus_isup (void)
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{
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bool ok = n_api > 0;
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uint_fast16_t idx = n_api;
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if(idx) do {
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ok &= modbus[--idx].is_up();
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} while(idx);
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return ok;
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}
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bool modbus_enabled (void)
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{
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return n_api > 0;
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}
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void modbus_flush_queue (void)
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{
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uint_fast16_t idx = n_api;
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if(idx) do {
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modbus[--idx].flush_queue();
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} while(idx);
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}
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void modbus_set_silence (const modbus_silence_timeout_t *timeout)
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{
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if(rtu_api != N_MODBUS_API)
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modbus[rtu_api].set_silence(timeout);
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}
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bool modbus_send (modbus_message_t *msg, const modbus_callbacks_t *callbacks, bool block)
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{
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bool ok = false;
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if(tcp_api != N_MODBUS_API)
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ok = modbus[tcp_api].send(msg, callbacks, block);
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return ok || (rtu_api != N_MODBUS_API && modbus[rtu_api].send(msg, callbacks, block));
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}
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uint16_t modbus_read_u16 (uint8_t *p)
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{
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return (*p << 8) | *(p + 1);
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}
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void modbus_write_u16 (uint8_t *p, uint16_t value)
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{
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*p = (uint8_t)(value >> 8);
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*(p + 1) = (uint8_t)(value & 0x00FF);
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}
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bool modbus_register_api (const modbus_api_t *api)
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{
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bool ok;
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if((ok = n_api < N_MODBUS_API)) {
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memcpy(&modbus[n_api], api, sizeof(modbus_api_t));
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if(api->interface == Modbus_InterfaceTCP)
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tcp_api = n_api;
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else if(api->interface == Modbus_InterfaceRTU)
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rtu_api = n_api;
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n_api++;
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}
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return ok;
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}
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