Use NuttX types in FreeModBus port; Add FreeModBus demo at apps/examples/modbus; Add new termios APIs

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4964 42af7a65-404d-4744-a932-0658087f49c3

4 files changed, 649 insertions, 0 deletions

diff --git a/apps/examples/modbus/.depend b/apps/examples/modbus/.depend
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/apps/examples/modbus/.depend
diff --git a/apps/examples/modbus/Kconfig b/apps/examples/modbus/Kconfig
new file mode 100644
index 000000000..4519ed2e3
--- /dev/null
+++ b/apps/examples/modbus/Kconfig
@@ -0,0 +1,13 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+
+config EXAMPLES_MODBUS
+	bool "FreeModBus example"
+	default n
+	---help---
+		Enable the FreeModBus example
+
+if EXAMPLES_MODBUS
+endif
diff --git a/apps/examples/modbus/Makefile b/apps/examples/modbus/Makefile
new file mode 100644
index 000000000..6dbc7e424
--- /dev/null
+++ b/apps/examples/modbus/Makefile
@@ -0,0 +1,105 @@
+############################################################################
+# apps/examples/modbus/Makefile
+#
+#   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
+
+# FreeModBus demo built-in application info
+
+APPNAME		= modbus
+PRIORITY	= SCHED_PRIORITY_DEFAULT
+STACKSIZE	= 2048
+
+# FreeModBus demo
+
+ASRCS		=
+CSRCS		= modbus_main.c
+
+AOBJS		= $(ASRCS:.S=$(OBJEXT))
+COBJS		= $(CSRCS:.c=$(OBJEXT))
+
+SRCS		= $(ASRCS) $(CSRCS)
+OBJS		= $(AOBJS) $(COBJS)
+
+ifeq ($(WINTOOL),y)
+  BIN		= "${shell cygpath -w  $(APPDIR)/libapps$(LIBEXT)}"
+else
+  BIN		= "$(APPDIR)/libapps$(LIBEXT)"
+endif
+
+ROOTDEPPATH	= --dep-path .
+
+# Common build
+
+VPATH		= 
+
+all: .built
+.PHONY: clean depend distclean
+
+$(AOBJS): %$(OBJEXT): %.S
+	$(call ASSEMBLE, $<, $@)
+
+$(COBJS): %$(OBJEXT): %.c
+	$(call COMPILE, $<, $@)
+
+.built: $(OBJS)
+	@( for obj in $(OBJS) ; do \
+		$(call ARCHIVE, $(BIN), $${obj}); \
+	done ; )
+	@touch .built
+
+.context:
+ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
+	$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
+	@touch $@
+endif
+
+context: .context
+
+.depend: Makefile $(SRCS)
+	@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
+	@touch $@
+
+depend: .depend
+
+clean:
+	@rm -f *.o *~ .*.swp .built
+	$(call CLEAN)
+
+distclean: clean
+	@rm -f Make.dep .depend
+
+-include Make.dep
diff --git a/apps/examples/modbus/modbus_main.c b/apps/examples/modbus/modbus_main.c
new file mode 100644
index 000000000..0f9dea4ac
--- /dev/null
+++ b/apps/examples/modbus/modbus_main.c
@@ -0,0 +1,531 @@
+/****************************************************************************
+ * examples/modbus/main.c
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************
+ * Leveraged from:
+ * 
+ *   FreeModbus Libary: Linux Demo Application
+ *   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
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <signal.h>
+#include <errno.h>
+
+#include <apps/modbus/mb.h>
+#include <apps/modbus/mbport.h>
+
+/****************************************************************************
+ * Definitions
+ ****************************************************************************/
+/* Configuration ************************************************************/
+
+#ifndef CONFIG_EXAMPLES_MODBUS_REG_INPUT_START
+#  define CONFIG_EXAMPLES_MODBUS_REG_INPUT_START 1000
+#endif
+
+#ifndef CONFIG_EXAMPLES_MODBUS_REG_INPUT_NREGS
+#  define CONFIG_EXAMPLES_MODBUS_REG_INPUT_NREGS 4
+#endif
+
+#ifndef CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START
+#  define CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START 2000
+#endif
+
+#ifndef CONFIG_EXAMPLES_MODBUS_REG_HOLDING_NREGS
+#  define CONFIG_EXAMPLES_MODBUS_REG_HOLDING_NREGS 130
+#endif
+
+#ifdef CONFIG_NSH_BUILTIN_APPS
+#  define MAIN_NAME modbus_main
+#  define MAIN_NAME_STRING "modbus_main: "
+#else
+#  define MAIN_NAME user_start
+#  define MAIN_NAME_STRING "user_start: "
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+enum modbus_threadstate_e
+{
+  STOPPED = 0,
+  RUNNING,
+  SHUTDOWN
+};
+
+struct modbus_state_s
+{
+  enum modbus_threadstate_e threadstate;
+  uint16_t reginput[CONFIG_EXAMPLES_MODBUS_REG_INPUT_NREGS];
+  uint16_t regholding[CONFIG_EXAMPLES_MODBUS_REG_HOLDING_NREGS];
+  pthread_t threadid;
+  pthread_mutex_t lock;
+  volatile bool quit;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static inline int modbus_initialize(void);
+static void *modbus_pollthread(void *pvarg);
+static inline int modbus_create_pollthread(void);
+static void modbus_showusage(FAR const char *progname, int exitcode);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static struct modbus_state_s g_modbus;
+static const uint8_t g_slaveid[] = { 0xaa, 0xbb, 0xcc };
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: modbus_initialize
+ *
+ * Description:
+ *   Called from the ModBus polling thread in order to initialized the 
+ *   FreeModBus interface.
+ *
+ ****************************************************************************/
+
+static inline int modbus_initialize(void)
+{
+  eMBErrorCode mberr;
+  int status;
+
+  /* Verify that we are in the stopped state */
+
+  if (g_modbus.threadstate != STOPPED)
+    {
+      fprintf(stderr, MAIN_NAME_STRING
+              "ERROR: Bad state: %d\n", g_modbus.threadstate);
+      return EINVAL;
+    }
+
+  /* Initialize the ModBus demo data structures */
+
+  status = pthread_mutex_init(&g_modbus.lock, NULL);
+  if (status != 0)
+    {
+      fprintf(stderr, MAIN_NAME_STRING
+              "ERROR: pthread_mutex_init failed: %d\n",  status);
+      return status;
+    }
+
+  status = ENODEV;
+
+  /* Initialize the FreeModBus library */
+
+  mberr = eMBInit(MB_RTU, 0X0A, 0, 38400, MB_PAR_EVEN);
+  if (mberr != MB_ENOERR)
+    {
+      fprintf(stderr, MAIN_NAME_STRING
+              "ERROR: eMBInit failed: %d\n", mberr);
+      goto errout_with_mutex;
+    }
+ 
+  /* Set the slave ID */
+
+  mberr = eMBSetSlaveID(0x34, TRUE, g_slaveid, 3);
+  if (mberr != MB_ENOERR)
+    {
+      fprintf(stderr, MAIN_NAME_STRING
+              "ERROR: eMBSetSlaveID failed: %d\n", mberr);
+      goto errout_with_modbus;
+    }
+
+  /* Enable FreeModBus */
+
+  mberr = eMBEnable();
+  if (mberr == MB_ENOERR)
+    {
+      fprintf(stderr, MAIN_NAME_STRING
+              "ERROR: eMBEnable failed: %d\n", mberr);
+      goto errout_with_modbus;
+    }
+
+  /* Successfully initialized */
+
+  g_modbus.threadstate = RUNNING;
+  return OK;
+
+errout_with_modbus:
+  /* Release hardware resources. */
+
+  (void)eMBClose();
+
+errout_with_mutex:
+
+  /* Free/uninitialize data structures */
+
+  (void)pthread_mutex_destroy(&g_modbus.lock);
+
+  g_modbus.threadstate = STOPPED;
+  return status;
+}
+
+/****************************************************************************
+ * Name: modbus_pollthread
+ *
+ * Description:
+ *   This is the ModBus polling thread.
+ *
+ ****************************************************************************/
+
+static void *modbus_pollthread(void *pvarg)
+{
+  eMBErrorCode mberr;
+  int ret;
+
+  /* Initialize the modbus */
+
+  ret = modbus_initialize();
+  if (ret != OK)
+    {
+      fprintf(stderr, MAIN_NAME_STRING
+              "ERROR: modbus_initialize failed: %d\n", ret);
+      return NULL;
+    }
+
+  /* Then loop until we are commanded to shutdown */
+
+  do
+    {
+      /* Poll */
+ 
+      mberr = eMBPoll();
+      if (mberr != MB_ENOERR)
+        {
+           break;
+        }
+
+      /* Generate some random input */
+
+      g_modbus.reginput[0] = (uint16_t)rand();
+    }
+  while (g_modbus.threadstate != SHUTDOWN);
+
+  /* Disable */
+
+  (void)eMBDisable();
+
+  /* Release hardware resources. */
+
+  (void)eMBClose();
+
+  /* Free/uninitialize data structures */
+
+  (void)pthread_mutex_destroy(&g_modbus.lock);
+  g_modbus.threadstate = STOPPED;
+  return NULL;
+}
+
+/****************************************************************************
+ * Name: modbus_create_pollthread
+ *
+ * Description:
+ *   Start the ModBus polling thread
+ *
+ ****************************************************************************/
+
+static inline int modbus_create_pollthread(void)
+{
+  int ret;
+
+  if (g_modbus.threadstate == STOPPED)
+    {
+      ret = pthread_create(&g_modbus.threadid, NULL, modbus_pollthread, NULL);
+    }
+    else
+    {
+      ret = EINVAL;
+    }
+
+  return ret;
+}
+
+/****************************************************************************
+ * Name: modbus_showusage
+ *
+ * Description:
+ *   Show usage of the demo program and exit
+ *
+ ****************************************************************************/
+
+static void modbus_showusage(FAR const char *progname, int exitcode)
+{
+  printf("USAGE: %s [-d|e|s|q|h]\n\n", progname);
+  printf("Where:\n");
+  printf("  -d : Disable protocol stack\n");
+  printf("  -e : Enable the protocol stack\n");
+  printf("  -s : Show current status\n");
+  printf("  -q : Quit application\n");
+  printf("  -h : Show this information\n");
+  printf("\n");
+  exit(exitcode);
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: user_start/modbus_main
+ *
+ * Description:
+ *   This is the main entry point to the demo program
+ *
+ ****************************************************************************/
+
+int MAIN_NAME(int argc, char *argv[])
+{
+  int option;
+  int ret;
+
+  /* Handle command line arguments */
+
+  g_modbus.quit = FALSE;
+
+  while ((option = getopt(argc, argv, "desqh")) != ERROR)
+    {
+      switch (option)
+        {
+          case 'd': /* Disable protocol stack */
+            (void)pthread_mutex_lock(&g_modbus.lock);
+            g_modbus.threadstate = SHUTDOWN;
+            (void)pthread_mutex_unlock(&g_modbus.lock);
+            break;
+
+          case 'e': /* Enable the protocol stack */
+            {
+              ret = modbus_create_pollthread();
+              if (ret != OK)
+                {
+                  fprintf(stderr, MAIN_NAME_STRING
+                          "ERROR: modbus_create_pollthread failed: %d\n", ret);
+                  exit(EXIT_FAILURE);
+                }
+            }
+            break;
+
+          case 's': /* Show current status */
+            switch (g_modbus.threadstate)
+              {
+                case RUNNING:
+                  printf(MAIN_NAME_STRING "Protocol stack is running\n");
+                  break;
+
+                case STOPPED:
+                  printf(MAIN_NAME_STRING "Protocol stack is stopped\n");
+                  break;
+
+                case SHUTDOWN:
+                  printf(MAIN_NAME_STRING "Protocol stack is shutting down\n");
+                  break;
+
+                default:
+                  fprintf(stderr, MAIN_NAME_STRING
+                          "ERROR: Invalid thread state: %d\n",
+                          g_modbus.threadstate);
+                  break;
+              }
+            break;
+
+          case 'q': /* Quit application */
+            g_modbus.quit = TRUE;
+            pthread_kill(g_modbus.threadid, 9);
+            break;
+
+          case 'h': /* Show help info */
+            modbus_showusage(argv[0], EXIT_SUCCESS);
+            break;
+
+          default:
+            fprintf(stderr, MAIN_NAME_STRING
+                    "ERROR: Unrecognized option: '%c'\n", option);
+            modbus_showusage(argv[0], EXIT_FAILURE);
+            break;
+        }
+    }
+
+  return EXIT_SUCCESS;
+}
+
+/****************************************************************************
+ * Name: eMBRegInputCB
+ *
+ * Description:
+ *   Required FreeModBus callback function
+ *
+ ****************************************************************************/
+
+eMBErrorCode eMBRegInputCB(uint8_t *buffer, uint16_t address, uint16_t nregs)
+{
+  eMBErrorCode mberr = MB_ENOERR;
+  int          index;
+
+  if ((address >= CONFIG_EXAMPLES_MODBUS_REG_INPUT_START) &&
+      (address + nregs <=
+      CONFIG_EXAMPLES_MODBUS_REG_INPUT_START +
+      CONFIG_EXAMPLES_MODBUS_REG_INPUT_NREGS))
+    {
+      index = (int)(address - CONFIG_EXAMPLES_MODBUS_REG_INPUT_START);
+      while (nregs > 0)
+        {
+          *buffer++ = (uint8_t)(g_modbus.reginput[index] >> 8);
+          *buffer++ = (uint8_t)(g_modbus.reginput[index] & 0xff);
+          index++;
+          nregs--;
+        }
+    }
+  else
+    {
+      mberr = MB_ENOREG;
+    }
+
+  return mberr;
+}
+
+/****************************************************************************
+ * Name: eMBRegHoldingCB
+ *
+ * Description:
+ *   Required FreeModBus callback function
+ *
+ ****************************************************************************/
+
+eMBErrorCode eMBRegHoldingCB(uint8_t *buffer, uint16_t address, uint16_t nregs,
+                             eMBRegisterMode mode)
+{
+  eMBErrorCode    mberr = MB_ENOERR;
+  int             index;
+
+  if ((address >= CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START) &&
+      (address + nregs <=
+       CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START +
+       CONFIG_EXAMPLES_MODBUS_REG_HOLDING_NREGS))
+    {
+      index = (int)(address - CONFIG_EXAMPLES_MODBUS_REG_HOLDING_START);
+      switch (mode)
+        {
+          /* Pass current register values to the protocol stack. */
+          case MB_REG_READ:
+            while (nregs > 0)
+              {
+                *buffer++ = (uint8_t)(g_modbus.regholding[index] >> 8);
+                *buffer++ = (uint8_t)(g_modbus.regholding[index] & 0xff);
+                index++;
+                nregs--;
+              }
+            break;
+
+          /* Update current register values with new values from the
+           * protocol stack.
+           */
+
+          case MB_REG_WRITE:
+            while (nregs > 0)
+              {
+                g_modbus.regholding[index] = *buffer++ << 8;
+                g_modbus.regholding[index] |= *buffer++;
+                index++;
+                nregs--;
+              }
+            break;
+        }
+    }
+  else
+    {
+      mberr = MB_ENOREG;
+    }
+
+  return mberr;
+}
+
+/****************************************************************************
+ * Name: eMBRegCoilsCB
+ *
+ * Description:
+ *   Required FreeModBus callback function
+ *
+ ****************************************************************************/
+
+eMBErrorCode eMBRegCoilsCB(uint8_t *buffer, uint16_t address, uint16_t ncoils,
+                           eMBRegisterMode mode)
+{
+  return MB_ENOREG;
+}
+
+/****************************************************************************
+ * Name: eMBRegDiscreteCB
+ *
+ * Description:
+ *   Required FreeModBus callback function
+ *
+ ****************************************************************************/
+
+eMBErrorCode eMBRegDiscreteCB(uint8_t *buffer, uint16_t address, uint16_t ndiscrete)
+{
+  return MB_ENOREG;
+}