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add modbus (not tested yet)

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This commit is contained in:
Edward Emelianov
2024-09-19 17:32:05 +03:00
parent bdbd7d68d9
commit 22a205001a
22 changed files with 1030 additions and 118 deletions
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22
F1:F103/FX3U/canproto.h
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@@ -25,9 +25,11 @@
#define SETTER_FLAG (0x80)
#define ISSETTER(data) ((data[2] & SETTER_FLAG))
// parameter number 127 means there no parameter number at all (don't need paremeter or get all)
#define NO_PARNO (0x1f)
#define NO_PARNO (0x7f)
// base value of parameter (even if it is a setter)
#define PARBASE(x) (x & 0x7f)
// get parameter value of msg->data
#define PARVAL(data) (data[2] & 0x7f)
// make error for CAN answer
#define FORMERR(m, err) do{m->data[3] = err; if(m->length < 4) m->length = 4;}while(0)
@@ -43,6 +45,19 @@ typedef enum{
ERR_AMOUNT // amount of error codes
} errcodes;
// set command bytes in CAN message
#define MSG_SET_CMD(msg, cmd) do{*((uint16_t*)msg.data) = (cmd);}while(0)
#define MSGP_SET_CMD(msg, cmd) do{*((uint16_t*)msg->data) = (cmd);}while(0)
// set error
#define MSG_SET_ERR(msg, err) do{msg.data[3] = (err);}while(0)
#define MSGP_SET_ERR(msg, err) do{msg->data[3] = (err);}while(0)
// set uint32_t data
#define MSG_SET_U32(msg, d) do{*((uint32_t*)(&msg.data[4])) = (d);}while(0)
#define MSGP_SET_U32(msg, d) do{*((uint32_t*)(&msg->data[4])) = (d);}while(0)
// get uint32_t data
#define MSG_GET_U32(msg) (*(uint32_t*)&msg.data[4])
#define MSGP_GET_U32(msg) (*(uint32_t*)&msg->data[4])
// CAN commands indexes
enum{
CMD_PING, // just ping
@@ -62,6 +77,11 @@ enum{
CMD_BOUNCE, // get/set bounce constant (ms)
CMD_USARTSPEED, // get/set USART1 speed (if encoder on RS-422)
CMD_LED, // onboard LED
CMD_FLAGS, // flags setter/getter
CMD_INCHNLS, // all bits set are active supported IN channels
CMD_OUTCHNLS, // all bits set are active supported OUT channels
CMD_MODBUSID, // set/get modbus slave ID (or 0 if master)
CMD_MODBUSSPEED,// speed of modbus interface
// should be the last:
CMD_AMOUNT // amount of CAN commands
};