diff --git a/modbus/mb_controller/common/esp_modbus_master.c b/modbus/mb_controller/common/esp_modbus_master.c index 99bece9..568a756 100644 --- a/modbus/mb_controller/common/esp_modbus_master.c +++ b/modbus/mb_controller/common/esp_modbus_master.c @@ -61,6 +61,7 @@ esp_err_t mbc_master_unlock(void *ctx) esp_err_t mbc_master_get_cid_info(void *ctx, uint16_t cid, const mb_parameter_descriptor_t **param_info) { + esp_err_t error = ESP_OK; MB_RETURN_ON_FALSE(ctx, ESP_ERR_INVALID_STATE, TAG, "Master interface is not correctly initialized."); diff --git a/modbus/mb_controller/common/include/esp_modbus_common.h b/modbus/mb_controller/common/include/esp_modbus_common.h index 8375185..31b4558 100644 --- a/modbus/mb_controller/common/include/esp_modbus_common.h +++ b/modbus/mb_controller/common/include/esp_modbus_common.h @@ -5,6 +5,7 @@ */ #pragma once +#include #include "driver/uart.h" // for UART types #include "sdkconfig.h" @@ -13,20 +14,12 @@ #include "mb_endianness_utils.h" #endif -#ifdef __cplusplus -extern "C" { -#endif - #include "port_common.h" #if __has_include("esp_check.h") #include "esp_check.h" #include "esp_log.h" -#include - -#include "mb_port_types.h" - #define MB_RETURN_ON_FALSE(a, err_code, tag, format, ...) ESP_RETURN_ON_FALSE(a, err_code, tag, format __VA_OPT__(,) __VA_ARGS__) #else @@ -42,6 +35,10 @@ extern "C" { #endif +#ifdef __cplusplus +extern "C" { +#endif + #define MB_SLAVE_ADDR_PLACEHOLDER (0xFF) #define MB_CONTROLLER_STACK_SIZE (CONFIG_FMB_CONTROLLER_STACK_SIZE) // Stack size for Modbus controller #define MB_CONTROLLER_PRIORITY (CONFIG_FMB_PORT_TASK_PRIO - 1) // priority of MB controller task diff --git a/modbus/mb_objects/include/mb_config.h b/modbus/mb_objects/include/mb_config.h index 0e67c79..f95b217 100644 --- a/modbus/mb_objects/include/mb_config.h +++ b/modbus/mb_objects/include/mb_config.h @@ -4,18 +4,16 @@ * SPDX-License-Identifier: Apache-2.0 */ #pragma once - +#include #include "sdkconfig.h" // for KConfig options -#ifdef __cplusplus -extern "C" { -#endif - #if __has_include("esp_idf_version.h") #include "esp_idf_version.h" #endif -#include +#ifdef __cplusplus +extern "C" { +#endif /* ----------------------- Defines ------------------------------------------*/ /*! \defgroup modbus_cfg Modbus Configuration @@ -48,8 +46,8 @@ extern "C" { #ifdef ESP_IDF_VERSION -#if (ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 4, 0)) -// Features supported from 4.4 +#if (ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)) +// Features supported from v5.0 #define MB_TIMER_SUPPORTS_ISR_DISPATCH_METHOD 1 #endif diff --git a/modbus/mb_objects/include/mb_port_types.h b/modbus/mb_objects/include/mb_port_types.h index aad49e7..08fcd73 100644 --- a/modbus/mb_objects/include/mb_port_types.h +++ b/modbus/mb_objects/include/mb_port_types.h @@ -5,12 +5,30 @@ */ #pragma once -#include "stdatomic.h" #include "mb_config.h" #include "mb_types.h" -#ifdef __cplusplus +#if __has_include("esp_idf_version.h") +#include "esp_idf_version.h" +#endif + +// Workaround for atomics incompatibility issue under CPP. +#if defined(__cplusplus) && (IDF_VERSION <= ESP_IDF_VERSION_VAL(5, 0, 0)) +#include +#define _Atomic(T) std::atomic +#define atomic_int int +#else +#include +#endif + +#if defined(__cplusplus) extern "C" { +#else +// This is to verify the atomic int types for C compilation unit have the same layout as int type. +static_assert( + (sizeof(_Atomic(int)) == sizeof(int) && sizeof(_Atomic int) == sizeof(int)), + "the _Atomic int types are not layout compatible with int type" +); #endif #define MB_ATTR_WEAK __attribute__ ((weak)) @@ -21,7 +39,6 @@ typedef enum _mb_comm_mode mb_mode_type_t; #include "driver/uart.h" -__attribute__((__packed__)) struct _port_serial_opts { mb_mode_type_t mode; /*!< Modbus communication mode */ uart_port_t port; /*!< Modbus communication port (UART) number */ @@ -32,7 +49,7 @@ struct _port_serial_opts { uart_word_length_t data_bits; /*!< Modbus number of data bits */ uart_stop_bits_t stop_bits; /*!< Modbus number of stop bits */ uart_parity_t parity; /*!< Modbus UART parity settings */ -}; +} __attribute__((__packed__)); typedef struct _port_serial_opts mb_serial_opts_t; @@ -44,16 +61,15 @@ typedef enum _addr_type_enum { MB_IPV6 = 2 /*!< TCP IPV6 addressing */ } mb_addr_type_t; -__attribute__((__packed__)) + struct _port_common_opts { mb_mode_type_t mode; /*!< Modbus communication mode */ uint16_t port; /*!< Modbus communication port (UART) number */ uint8_t uid; /*!< Modbus slave address field (dummy for master) */ uint32_t response_tout_ms; /*!< Modbus slave response timeout */ uint64_t test_tout_us; /*!< Modbus test timeout (reserved) */ -}; +} __attribute__((__packed__)); -__attribute__((__packed__)) struct _port_tcp_opts { mb_mode_type_t mode; /*!< Modbus communication mode */ uint16_t port; /*!< Modbus communication port (UART) number */ @@ -65,7 +81,7 @@ struct _port_tcp_opts { void *ip_netif_ptr; /*!< Modbus network interface */ char *dns_name; /*!< Modbus node DNS name */ bool start_disconnected; /*!< (Master only option) do not wait for connection to all nodes before polling */ -}; +} __attribute__((__packed__)); typedef struct _port_tcp_opts mb_tcp_opts_t; @@ -100,7 +116,7 @@ typedef struct _uid_info { uint16_t uid; /*!< node unit ID (UID) field for MBAP frame */ uint16_t port; /*!< node port number */ mb_comm_mode_t proto; /*!< protocol type */ - _Atomic mb_sock_state_t state; /*!< node state */ + _Atomic(int) state; /*!< node state */ void *inst; /*!< pointer to linked instance */ } mb_uid_info_t; diff --git a/modbus/mb_ports/common/mb_transaction.c b/modbus/mb_ports/common/mb_transaction.c index 1c60799..78a4d2f 100644 --- a/modbus/mb_ports/common/mb_transaction.c +++ b/modbus/mb_ports/common/mb_transaction.c @@ -19,7 +19,7 @@ typedef struct transaction_item { int msg_id; void *pnode; transaction_tick_t tick; - _Atomic pending_state_t state; + _Atomic(int) state; STAILQ_ENTRY(transaction_item) next; } transaction_item_t; diff --git a/modbus/mb_ports/common/port_event.c b/modbus/mb_ports/common/port_event.c index 8662404..648f2ca 100644 --- a/modbus/mb_ports/common/port_event.c +++ b/modbus/mb_ports/common/port_event.c @@ -18,11 +18,11 @@ static const char *TAG = "mb_port.event"; struct mb_port_event_t { - _Atomic mb_err_event_t curr_err_type; + _Atomic(int) curr_err_type; SemaphoreHandle_t resource_hdl; EventGroupHandle_t event_group_hdl; QueueHandle_t event_hdl; - _Atomic uint64_t curr_trans_id; + _Atomic(uint64_t) curr_trans_id; }; mb_err_enum_t mb_port_event_create(mb_port_base_t *inst) diff --git a/modbus/mb_ports/common/port_other.c b/modbus/mb_ports/common/port_other.c index ea43576..7da783b 100644 --- a/modbus/mb_ports/common/port_other.c +++ b/modbus/mb_ports/common/port_other.c @@ -11,7 +11,7 @@ #include "port_common.h" /* ----------------------- Variables ----------------------------------------*/ -static _Atomic uint32_t inst_counter = 0; +static _Atomic(uint32_t) inst_counter = 0; /* ----------------------- Start implementation -----------------------------*/ int lock_obj(_lock_t *plock) diff --git a/modbus/mb_ports/common/port_timer.c b/modbus/mb_ports/common/port_timer.c index 836184c..c884311 100644 --- a/modbus/mb_ports/common/port_timer.c +++ b/modbus/mb_ports/common/port_timer.c @@ -29,9 +29,9 @@ struct mb_port_timer_t //spinlock_t spin_lock; esp_timer_handle_t timer_handle; uint16_t t35_ticks; - _Atomic uint32_t response_time_ms; - _Atomic bool timer_state; - _Atomic uint16_t timer_mode; + _Atomic(uint32_t) response_time_ms; + _Atomic(bool) timer_state; + _Atomic(uint16_t) timer_mode; }; /* ----------------------- Static variables ---------------------------------*/ diff --git a/modbus/mb_ports/serial/port_serial.c b/modbus/mb_ports/serial/port_serial.c index c6be567..ed76a40 100644 --- a/modbus/mb_ports/serial/port_serial.c +++ b/modbus/mb_ports/serial/port_serial.c @@ -37,7 +37,7 @@ typedef struct uint64_t send_time_stamp; uint64_t recv_time_stamp; uint32_t flags; - bool enabled; + _Atomic(bool) enabled; QueueHandle_t uart_queue; // A queue to handle UART event. TaskHandle_t task_handle; // UART task to handle UART event. SemaphoreHandle_t bus_sema_handle; // Rx blocking semaphore handle diff --git a/test_apps/cpp/modbus_serial_cpp_test/CMakeLists.txt b/test_apps/cpp/modbus_serial_cpp_test/CMakeLists.txt new file mode 100644 index 0000000..00fabb8 --- /dev/null +++ b/test_apps/cpp/modbus_serial_cpp_test/CMakeLists.txt @@ -0,0 +1,6 @@ +# The following five lines of boilerplate have to be in your project's +# CMakeLists in this exact order for cmake to work correctly +cmake_minimum_required(VERSION 3.5) + +include($ENV{IDF_PATH}/tools/cmake/project.cmake) +project(mb_serial_cpp) diff --git a/test_apps/cpp/modbus_serial_cpp_test/main/CMakeLists.txt b/test_apps/cpp/modbus_serial_cpp_test/main/CMakeLists.txt new file mode 100644 index 0000000..fe56aae --- /dev/null +++ b/test_apps/cpp/modbus_serial_cpp_test/main/CMakeLists.txt @@ -0,0 +1,2 @@ +idf_component_register(SRCS "serial_test.cpp" + INCLUDE_DIRS ".") \ No newline at end of file diff --git a/test_apps/cpp/modbus_serial_cpp_test/main/idf_component.yml b/test_apps/cpp/modbus_serial_cpp_test/main/idf_component.yml new file mode 100644 index 0000000..e6964ae --- /dev/null +++ b/test_apps/cpp/modbus_serial_cpp_test/main/idf_component.yml @@ -0,0 +1,6 @@ +dependencies: + idf: ">=5.0" + espressif/esp-modbus: + version: "^2.0.0" + override_path: "../../../../" + diff --git a/test_apps/cpp/modbus_serial_cpp_test/main/serial_test.cpp b/test_apps/cpp/modbus_serial_cpp_test/main/serial_test.cpp new file mode 100644 index 0000000..bc162ba --- /dev/null +++ b/test_apps/cpp/modbus_serial_cpp_test/main/serial_test.cpp @@ -0,0 +1,125 @@ +#include "esp_log.h" + +#include "sdkconfig.h" +#include "mbcontroller.h" + +#define TEST_PORT_NUM (uart_port_t)1 +#define TEST_SPEED 115200 + +#define TAG "CPP_TEST" +#define MB_SLAVE_SHORT_ADDRESS 1 + +enum { + MB_DEVICE_ADDR1 = 1 +}; + +// Enumeration of all supported CIDs for device (used in parameter definition table) +enum { + CID_DEV_REG0 = 0 +}; + +#define STR(fieldname) ((const char*)( fieldname )) +#define OPTS(min_val, max_val, step_val) { .opt1 = min_val, .opt2 = max_val, .opt3 = step_val } + +static void *pmaster_handle = NULL; +static void *pslave_handle = NULL; + +// Example Data (Object) Dictionary for Modbus parameters +const mb_parameter_descriptor_t dummy_dict[] = { + // CID, Name, Units, Modbus addr, register type, Modbus Reg Start Addr, Modbus Reg read length, + // Instance offset (NA), Instance type, Instance length (bytes), Options (NA), Permissions + { CID_DEV_REG0, STR("MB_hold_reg-0"), STR("Data"), MB_DEVICE_ADDR1, MB_PARAM_HOLDING, 0, 1, + 0, PARAM_TYPE_U16, PARAM_SIZE_U16, OPTS( 0,0,0 ), PAR_PERMS_READ_WRITE_TRIGGER }, +}; + +// Calculate number of parameters in the table +const uint16_t num_device_parameters = (sizeof(dummy_dict)/sizeof(dummy_dict[0])); + +// Modbus serial master initialization +static esp_err_t master_serial_init(void **pinst) +{ + mb_communication_info_t comm; + comm.ser_opts.port = (uart_port_t)TEST_PORT_NUM; + comm.ser_opts.mode = (mb_comm_mode_t)MB_RTU; + comm.ser_opts.baudrate = TEST_SPEED; + comm.ser_opts.parity = MB_PARITY_NONE; + comm.ser_opts.uid = 0; + comm.ser_opts.response_tout_ms = 100; + comm.ser_opts.data_bits = UART_DATA_8_BITS; + comm.ser_opts.stop_bits = UART_STOP_BITS_1; + // Initialize Modbus controller + esp_err_t err = mbc_master_create_serial(&comm, pinst); + MB_RETURN_ON_FALSE((pinst != NULL), ESP_ERR_INVALID_STATE, TAG, + "mbc master initialization fail."); + MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG, + "mbc master initialization fail, returns(0x%x).", (int)err); + err = mbc_master_set_descriptor(*pinst, &dummy_dict[0], num_device_parameters); + MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG, + "mbc master set descriptor fail, returns(0x%x).", (int)err); + err = mbc_master_start(*pinst); + MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG, + "mbc master start fail, returned (0x%x).", (int)err); + const mb_parameter_descriptor_t *pdescriptor = NULL; + err = mbc_master_get_cid_info(*pinst, CID_DEV_REG0, &pdescriptor); + MB_RETURN_ON_FALSE(((err != ESP_ERR_NOT_FOUND) && (pdescriptor != NULL)), ESP_ERR_INVALID_STATE, TAG, + "mbc master get descriptor fail, returned (0x%x).", (int)err); + uint16_t regs[] = {0x1111, 0x2222}; + uint8_t type = 0; + err = mbc_master_get_parameter(*pinst, pdescriptor->cid, (uint8_t *)®s[0], &type); + MB_RETURN_ON_FALSE((err != ESP_ERR_INVALID_STATE), ESP_ERR_INVALID_STATE, TAG, + "mbc master get parameter fail, returned (0x%x).", (int)err); + ESP_LOGI(TAG, "Modbus master stack initialized..."); + return ESP_OK; +} + +// Modbus serial slave initialization +static esp_err_t slave_serial_init(void **pinst) +{ + mb_register_area_descriptor_t reg_area; + mb_communication_info_t comm; + comm.ser_opts.port = (uart_port_t)TEST_PORT_NUM; + comm.ser_opts.mode = (mb_comm_mode_t)MB_RTU; + comm.ser_opts.baudrate = TEST_SPEED; + comm.ser_opts.parity = MB_PARITY_NONE; + comm.ser_opts.uid = MB_SLAVE_SHORT_ADDRESS; + comm.ser_opts.response_tout_ms = 100; + comm.ser_opts.data_bits = UART_DATA_8_BITS; + comm.ser_opts.stop_bits = UART_STOP_BITS_1; + // Initialize Modbus controller + esp_err_t err = mbc_slave_create_serial(&comm, pinst); + MB_RETURN_ON_FALSE((pinst != NULL), ESP_ERR_INVALID_STATE, TAG, + "mbc slave initialization fail."); + MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG, + "mbc slave initialization fail, returns(0x%x).", (int)err); + uint16_t holding_regs[] = {0x1111, 0x2222, 0x3333, 0x4444}; + reg_area.type = MB_PARAM_HOLDING; + reg_area.start_offset = 0; + reg_area.address = (void*)&holding_regs[0]; + reg_area.size = sizeof(holding_regs); + reg_area.access = MB_ACCESS_RW; + ESP_ERROR_CHECK(mbc_slave_set_descriptor(*pinst, reg_area)); + err = mbc_slave_start(*pinst); + MB_RETURN_ON_FALSE((err == ESP_OK), ESP_ERR_INVALID_STATE, TAG, + "mbc slave start fail, returned (0x%x).", (int)err); + ESP_LOGI(TAG, "Modbus slave stack initialized..."); + return err; +} + +// Intentionally verify that atomic values are layout compatible with original types +static_assert( + sizeof(std::atomic) == sizeof(int), + "CPP atomic int types are not layout compatible with int" +); + +extern "C" void app_main(void) +{ + // Initialization of device peripheral and objects + ESP_LOGI(TAG, "Setup master cpp...."); + ESP_ERROR_CHECK(master_serial_init(&pmaster_handle)); + ESP_ERROR_CHECK(mbc_master_delete(pmaster_handle)); + ESP_LOGI(TAG, "Master test passed successfully."); + ESP_LOGI(TAG, "Setup slave cpp...."); + ESP_ERROR_CHECK(slave_serial_init(&pslave_handle)); + ESP_ERROR_CHECK(mbc_slave_delete(pslave_handle)); + ESP_LOGI(TAG, "Slave test passed successfully."); +} diff --git a/test_apps/cpp/modbus_serial_cpp_test/pytest_cpp_mb_serial_master_slave.py b/test_apps/cpp/modbus_serial_cpp_test/pytest_cpp_mb_serial_master_slave.py new file mode 100644 index 0000000..eb13ca8 --- /dev/null +++ b/test_apps/cpp/modbus_serial_cpp_test/pytest_cpp_mb_serial_master_slave.py @@ -0,0 +1,15 @@ +# SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD +# SPDX-License-Identifier: Apache-2.0 +import pytest +from pytest_embedded import Dut + +@pytest.mark.esp32 +@pytest.mark.generic +def test_cpp_mb_serial_master_slave(dut: Dut) -> None: + dut.expect('Setup master cpp....') + dut.expect('Modbus master stack initialized...', timeout=5) + dut.expect('Master test passed successfully.', timeout=5) + dut.expect('Setup slave cpp....') + dut.expect('Modbus slave stack initialized...', timeout=5) + dut.expect('Slave test passed successfully.', timeout=5) + dut.expect('Returned from app_main()') diff --git a/test_apps/test_common/mb_utest_lib/port_adapter.c b/test_apps/test_common/mb_utest_lib/port_adapter.c index 2057bfc..7c78d36 100644 --- a/test_apps/test_common/mb_utest_lib/port_adapter.c +++ b/test_apps/test_common/mb_utest_lib/port_adapter.c @@ -46,7 +46,7 @@ typedef struct _mb_adapter_port_entry uint16_t recv_length; uint64_t send_time_stamp; uint64_t recv_time_stamp; - _Atomic uint64_t test_timeout_us; + _Atomic(uint64_t) test_timeout_us; uint32_t flags; mb_uid_info_t addr_info; QueueHandle_t rx_queue;