ModbusTCP.h

/**
@file
Arduino library for communicating with Modbus server over Ethernet in TCP.

@defgroup setup ModbusTCP Object Instantiation/Initialization
@defgroup buffer ModbusTCP Buffer Management
@defgroup discrete Modbus Function Codes for Discrete Coils/Inputs
@defgroup register Modbus Function Codes for Holding/Input Registers
@defgroup constant Modbus Function Codes, Exception Codes
*/
/**
\mainpage Modbus over TCP/IP
  ModbusTCP.h - Arduino library for communicating with Modbus server
  over Ethernet (via TCP protocol).

  This file is part of ModbusTCP.

  @see **README** for details.

  ModbusTCP is free software: you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation, either version 3 of the License, or
  (at your option) any later version.

  ModbusTCP 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 General Public License for more details.

  You should have received a copy of the GNU General Public License
  along with ModbusTCP library. If not, see <http://www.gnu.org/licenses/>.

  Adopted from ModbusMaster for RTU over RS-485 by Doc Walker

  Modified by Narendra Dehury for TCP.

  Modified by Florian K for ESP8266.

  Copyright @ phoenixrobotix.com

*/


#ifndef Modbus_TCPIP_h
#define Modbus_TCPIP_h

#ifndef WIZNET_W5100
#define WIZNET_W5100  0       /**< define 1 if  WIZNET W5100 IC is used, otherwise 0 */
#ifndef ENC28J60
#define ENC28J60      0       /**< define 1 if  ENC28J60 IC is used, otherwise 0     */
#ifndef ESP8266
#define ESP8266       1


/* _____STANDARD INCLUDES____________________________________________________ */
// include types & constants of Wiring core API
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

#include <SPI.h>

#if WIZNET_W5100
#include <Ethernet.h>
#endif

#if ENC28J60
#include <UIPEthernet.h>
#endif

#if ESP8266
#include <WiFiClient.h>
#endif


/* _____PROJECT INCLUDES_____________________________________________________ */

// functions to manipulate words
#include "util/word.h"


/* _____CLASS DEFINITIONS____________________________________________________ */
/**
Arduino class library for communicating with Modbus server over TCP/IP.
*/
class ModbusTCP
{
  public:

    IPAddress serverIP;

#if WIZNET_W5100
    EthernetClient ModbusClient;
#elif ENC28J60
    UIPClient ModbusClient;
#elif ESP8266
    WiFiClient ModbusClient;
#endif

    char MBconnectionFlag = 0;

    ModbusTCP();
    ModbusTCP(uint8_t);
    void setUnitId(uint8_t);
    void setTransactionID(uint16_t);
    void setServerIPAddress(IPAddress);
    void idle(void (*)());

    // Modbus exception codes
    /**
    Modbus protocol illegal function exception.

    The function code received in the query is not an allowable action for
    the server. This may be because the function code is only
    applicable to newer devices, and was not implemented in the unit
    selected. It could also indicate that the server is in the
    wrong state to process a request of this type, for example because it is
    unconfigured and is being asked to return register values.

    @ingroup constant
    */
    static const uint8_t MBIllegalFunction            = 0x01;

    /**
    Modbus protocol illegal data address exception.

    The data address received in the query is not an allowable address for
    the server. More specifically, the combination of reference
    number and transfer length is invalid. For a controller with 100
    registers, the ADU addresses the first register as 0, and the last one
    as 99. If a request is submitted with a starting register address of 96
    and a quantity of registers of 4, then this request will successfully
    operate (address-wise at least) on registers 96, 97, 98, 99. If a
    request is submitted with a starting register address of 96 and a
    quantity of registers of 5, then this request will fail with Exception
    Code 0x02 "Illegal Data Address" since it attempts to operate on
    registers 96, 97, 98, 99 and 100, and there is no register with address
    100.

    @ingroup constant
    */
    static const uint8_t MBIllegalDataAddress         = 0x02;

    /**
    Modbus protocol illegal data value exception.

    A value contained in the query data field is not an allowable value for
    server. This indicates a fault in the structure of the
    remainder of a complex request, such as that the implied length is
    incorrect. It specifically does NOT mean that a data item submitted for
    storage in a register has a value outside the expectation of the
    application program, since the MODBUS protocol is unaware of the
    significance of any particular value of any particular register.

    @ingroup constant
    */
    static const uint8_t MBIllegalDataValue              = 0x03;
    //static const uint8_t MBIllegalResponseLength         = 0x04;

    /**
    Modbus TCP server connection failure exception.

    An unrecoverable error occurred while the client is attempting to connect to
    the server but fails, Usually a case with ENC82J60.

    @ingroup constant
    */

    static const uint8_t MBServerConnectionTimeOut       = 0x05;

    // Class-defined success/exception codes
    /**
    ModbusTCP success.

    Modbus transaction was successful; the following checks were valid:
      - slave ID
      - function code
      - response code
      - data

    @ingroup constant
    */
    static const uint8_t MBSuccess                     = 0x00;

    /**
    ModbusTCP invalid response slave ID exception.

    The slave ID in the response does not match that of the request.

    @ingroup constant
    */
    static const uint8_t MBInvalidTransactionID        = 0xE0;

    /**
    ModbusTCP invalid response function exception.

    The function code in the response does not match that of the request.

    @ingroup constant
    */
    static const uint8_t MBInvalidFunction             = 0xE1;

    /**
    ModbusTCP response timed out exception.

    The entire response was not received within the timeout period,
    ModbusTCP::MBResponseTimeout.

    @ingroup constant
    */
    static const uint8_t MBResponseTimedOut            = 0xE2;

    /**
    ModbusTCP invalid response CRC exception.

    The CRC in the response does not match the one calculated.

    @ingroup constant
    */
    static const uint8_t MBInvalidUnitID               = 0xE3;
    static const uint8_t MBInvalidProtocol             = 0xE4;

    uint8_t  getResponseBufferLength();
    uint16_t getResponseBuffer(uint8_t);
    void     clearResponseBuffer();
    uint8_t  setTransmitBuffer(uint8_t, uint16_t);
    void     clearTransmitBuffer();


    uint8_t  readCoils(uint16_t, uint16_t);
    uint8_t  readDiscreteInputs(uint16_t, uint16_t);
    uint8_t  readHoldingRegisters(uint16_t, uint16_t);
    uint8_t  readInputRegisters(uint16_t, uint8_t);
    uint8_t  writeSingleCoil(uint16_t, uint8_t);
    uint8_t  writeSingleRegister(uint16_t, uint16_t);
    uint8_t  writeMultipleCoils(uint16_t, uint16_t);
    uint8_t  writeMultipleRegisters(uint16_t, uint16_t);
    uint8_t  maskWriteRegister(uint16_t, uint16_t, uint16_t);
    uint8_t  readWriteMultipleRegisters(uint16_t, uint16_t, uint16_t, uint16_t);

  private:

    uint8_t  _u8MBUnitID;                                        ///< Unit Identifier for individual unit-identification
    uint16_t _u16MBTransactionID                      = 1;       ///< Transaction id for each transaction
    uint16_t _u16MBProtocolID                         = 0;       ///< Constant
    static const uint8_t MaxBufferSize                = 64;      ///< size of response/transmit buffers
    uint16_t _u16ReadAddress;                                    ///< slave register from which to read
    uint16_t _u16ReadQty;                                        ///< quantity of words to read
    uint16_t _u16TxRxBuffer[MaxBufferSize];                      ///Both transmit and receive buffer murged to one buffer.
    uint16_t _u16WriteAddress;                                   ///< slave register to which to write
    uint16_t _u16WriteQty;                                       ///< quantity of words to write
    uint8_t _u8ResponseBufferLength;

    // Modbus function codes for bit access
    static const uint8_t MBReadCoils                  = 0x01; ///< Modbus function 0x01 Read Coils
    static const uint8_t MBReadDiscreteInputs         = 0x02; ///< Modbus function 0x02 Read Discrete Inputs
    static const uint8_t MBWriteSingleCoil            = 0x05; ///< Modbus function 0x05 Write Single Coil
    static const uint8_t MBWriteMultipleCoils         = 0x0F; ///< Modbus function 0x0F Write Multiple Coils

    // Modbus function codes for 16 bit access
    static const uint8_t MBReadHoldingRegisters       = 0x03; ///< Modbus function 0x03 Read Holding Registers
    static const uint8_t MBReadInputRegisters         = 0x04; ///< Modbus function 0x04 Read Input Registers
    static const uint8_t MBWriteSingleRegister        = 0x06; ///< Modbus function 0x06 Write Single Register
    static const uint8_t MBWriteMultipleRegisters     = 0x10; ///< Modbus function 0x10 Write Multiple Registers
    static const uint8_t MBMaskWriteRegister          = 0x16; ///< Modbus function 0x16 Mask Write Register
    static const uint8_t MBReadWriteMultipleRegisters = 0x17; ///< Modbus function 0x17 Read Write Multiple Registers


    static const uint16_t ku16MBResponseTimeout          = 2000; ///< Modbus timeout [milliseconds]

    // master function that conducts Modbus transactions
    uint8_t ModbusMasterTransaction(uint8_t u8MBFunction);

    // idle callback function; gets called during idle time between TX and RX
    void (*_idle)();
};
#endif

/**
@example examples/modbusTCPlib_w5100/modbusTCPlib_w5100.ino
@example examples/modbusTCPlib_watchdog/modbusTCPlib_watchdog.ino
*/