First version of RS485 + MODBUS Driver
This commit is contained in:
Emanuele Trabattoni
163
src/WS_RS485.cpp
163
src/WS_RS485.cpp
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#include "WS_RS485.h"
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#include <algorithm>
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HardwareSerial lidarSerial(1); // Using serial port 1
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uint8_t data[][8] = { // ESP32-S3-POE-ETH-8DI-8RO Control Command (RS485 receiving data)
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{ 0x06, 0x05, 0x00, 0x01, 0x55, 0x00, 0xA2, 0xED }, // ESP32-S3-POE-ETH-8DI-8RO CH1 Toggle
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{ 0x06, 0x05, 0x00, 0x02, 0x55, 0x00, 0x52, 0xED }, // ESP32-S3-POE-ETH-8DI-8RO CH2 Toggle
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{ 0x06, 0x05, 0x00, 0x03, 0x55, 0x00, 0x03, 0x2D }, // ESP32-S3-POE-ETH-8DI-8RO CH3 Toggle
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{ 0x06, 0x05, 0x00, 0x04, 0x55, 0x00, 0xB2, 0xEC }, // ESP32-S3-POE-ETH-8DI-8RO CH4 Toggle
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{ 0x06, 0x05, 0x00, 0x05, 0x55, 0x00, 0xE3, 0x2C }, // ESP32-S3-POE-ETH-8DI-8RO CH5 Toggle
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{ 0x06, 0x05, 0x00, 0x06, 0x55, 0x00, 0x13, 0x2C }, // ESP32-S3-POE-ETH-8DI-8RO CH6 Toggle
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{ 0x06, 0x05, 0x00, 0x07, 0x55, 0x00, 0x42, 0xEC }, // ESP32-S3-POE-ETH-8DI-8RO CH7 Toggle
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{ 0x06, 0x05, 0x00, 0x08, 0x55, 0x00, 0x72, 0xEF }, // ESP32-S3-POE-ETH-8DI-8RO CH8 Toggle
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{ 0x06, 0x05, 0x00, 0xFF, 0xFF, 0x00, 0xBD, 0xBD }, // ESP32-S3-POE-ETH-8DI-8RO ALL ON
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{ 0x06, 0x05, 0x00, 0xFF, 0x00, 0x00, 0xFC, 0x4D }, // ESP32-S3-POE-ETH-8DI-8RO ALL OFF
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};
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uint8_t Send_Data[][8] = { // Modbus RTU Relay Control Command (RS485 send data)
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{ 0x01, 0x05, 0x00, 0x00, 0x55, 0x00, 0xF2, 0x9A }, // Modbus RTU Relay CH1 Toggle
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{ 0x01, 0x05, 0x00, 0x01, 0x55, 0x00, 0xA3, 0x5A }, // Modbus RTU Relay CH2 Toggle
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{ 0x01, 0x05, 0x00, 0x02, 0x55, 0x00, 0x53, 0x5A }, // Modbus RTU Relay CH3 Toggle
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{ 0x01, 0x05, 0x00, 0x03, 0x55, 0x00, 0x02, 0x9A }, // Modbus RTU Relay CH4 Toggle
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{ 0x01, 0x05, 0x00, 0x04, 0x55, 0x00, 0xB3, 0x5B }, // Modbus RTU Relay CH5 Toggle
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{ 0x01, 0x05, 0x00, 0x05, 0x55, 0x00, 0xE2, 0x9B }, // Modbus RTU Relay CH6 Toggle
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{ 0x01, 0x05, 0x00, 0x06, 0x55, 0x00, 0x12, 0x9B }, // Modbus RTU Relay CH7 Toggle
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{ 0x01, 0x05, 0x00, 0x07, 0x55, 0x00, 0x43, 0x5B }, // Modbus RTU Relay CH8 Toggle
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{ 0x01, 0x05, 0x00, 0xFF, 0xFF, 0xFF, 0xFC, 0x4A }, // Modbus RTU Relay ALL ON
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{ 0x01, 0x05, 0x00, 0xFF, 0x00, 0x00, 0xFD, 0xFA }, // Modbus RTU Relay ALL OFF
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};
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uint8_t buf[20] = {0}; // Data storage area
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int numRows = sizeof(data) / sizeof(data[0]);
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void SetData(uint8_t* data, size_t length) {
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lidarSerial.write(data, length); // Send data from the RS485
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}
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void ReadData(uint8_t* buf, uint8_t length) {
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uint8_t Receive_Flag = 0;
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Receive_Flag = lidarSerial.available();
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if (Receive_Flag >= length) {
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lidarSerial.readBytes(buf, length);
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char printBuf[length * 3 + 1];
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sprintf(printBuf, "Received data: ");
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for (int i = 0; i < length; i++) {
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sprintf(printBuf + strlen(printBuf), "%02X ", buf[i]);
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}
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printf(printBuf);
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/*************************
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Add a receiving data handler
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*************************/
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Receive_Flag = 0;
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memset(buf, 0, sizeof(buf));
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}
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}
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void RS485_Analysis(uint8_t *buf)
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{
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switch(buf[1])
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{
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case Extension_CH1:
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SetData(Send_Data[0],sizeof(Send_Data[0]));
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printf("|*** Toggle expansion channel 1 ***|\r\n");
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break;
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case Extension_CH2:
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SetData(Send_Data[1],sizeof(Send_Data[1]));
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printf("|*** Toggle expansion channel 2 ***|\r\n");
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break;
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case Extension_CH3:
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SetData(Send_Data[2],sizeof(Send_Data[2]));
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printf("|*** Toggle expansion channel 3 ***|\r\n");
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break;
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case Extension_CH4:
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SetData(Send_Data[3],sizeof(Send_Data[3]));
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printf("|*** Toggle expansion channel 4 ***|\r\n");
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break;
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case Extension_CH5:
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SetData(Send_Data[4],sizeof(Send_Data[4]));
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printf("|*** Toggle expansion channel 5 ***|\r\n");
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break;
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case Extension_CH6:
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SetData(Send_Data[5],sizeof(Send_Data[5]));
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printf("|*** Toggle expansion channel 6 ***|\r\n");
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break;
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case Extension_CH7:
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SetData(Send_Data[6],sizeof(Send_Data[6]));
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printf("|*** Toggle expansion channel 7 ***|\r\n");
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break;
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case Extension_CH8:
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SetData(Send_Data[7],sizeof(Send_Data[7]));
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printf("|*** Toggle expansion channel 8 ***|\r\n");
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break;
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case Extension_ALL_ON:
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SetData(Send_Data[8],sizeof(Send_Data[8]));
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printf("|*** Enable all extension channels ***|\r\n");
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break;
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case Extension_ALL_OFF:
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SetData(Send_Data[9],sizeof(Send_Data[9]));
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printf("|*** Close all expansion channels ***|\r\n");
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break;
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default:
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printf("Note : Non-control external device instructions !\r\n");
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}
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}
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uint32_t Baudrate = 0;
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double transmission_time = 0;
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double RS485_cmd_Time = 0;
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void RS485_Init() // Initializing serial port
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{
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Baudrate = 9600; // Set the baud rate of the serial port
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lidarSerial.begin(Baudrate, SERIAL_8N1, RXD1, TXD1); // Initializing serial port
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transmission_time = 10.0 / Baudrate * 1000 ;
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RS485_cmd_Time = transmission_time*8; // 8:data length
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xTaskCreatePinnedToCore(
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RS485Task,
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"RS485Task",
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4096,
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NULL,
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3,
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NULL,
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0
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);
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}
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void RS485Task(void *parameter) {
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while(1){
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RS485_Loop();
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vTaskDelay(pdMS_TO_TICKS(50));
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}
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vTaskDelete(NULL);
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}
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void RS485_Loop()
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{
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uint8_t Receive_Flag = 0; // Receiving mark
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Receive_Flag = lidarSerial.available();
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if (Receive_Flag > 0) {
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if(RS485_cmd_Time > 1) // Time greater than 1 millisecond
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delay((uint16_t)RS485_cmd_Time);
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else // Time is less than 1 millisecond
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delay(1);
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Receive_Flag = lidarSerial.available();
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lidarSerial.readBytes(buf, Receive_Flag); // The Receive_Flag length is read
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if(Receive_Flag == 8){
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uint8_t i=0;
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for(i=0;i<numRows;i++){
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bool result = std::equal(std::begin(buf), std::begin(buf) + 8, std::begin(data[i])); // Compare two arrays
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if(result){
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if(i < numRows-1)
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buf[0] = i+1+48;
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else if(i == numRows-1)
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buf[0] = 48;
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Relay_Analysis(buf,RS485_Mode);
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break;
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}
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}
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if(i > numRows-1)
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printf("Note : Non-instruction data was received - RS485 !\r\n");
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}
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else{
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printf("Note : Non-instruction data was received .Number of bytes: %d - RS485 !\r\n",Receive_Flag);
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}
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Receive_Flag=0;
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memset(buf,0, sizeof(buf));
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}
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}
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@@ -1,26 +0,0 @@
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#pragma once
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#include <HardwareSerial.h> // Reference the ESP32 built-in serial port library
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#include "WS_GPIO.h"
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#include "WS_Relay.h"
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#define Extension_CH1 1 // Expansion Channel 1
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#define Extension_CH2 2 // Expansion Channel 2
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#define Extension_CH3 3 // Expansion Channel 3
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#define Extension_CH4 4 // Expansion Channel 4
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#define Extension_CH5 5 // Expansion Channel 5
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#define Extension_CH6 6 // Expansion Channel 6
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#define Extension_CH7 7 // Expansion Channel 7
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#define Extension_CH8 8 // Expansion Channel 8
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#define Extension_ALL_ON 9 // Expansion ALL ON
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#define Extension_ALL_OFF 10 // Expansion ALL OFF
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void SetData(uint8_t* data, size_t length); // Send data from the RS485
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void ReadData(uint8_t* buf, uint8_t length); // Data is received over RS485
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void RS485_Analysis(uint8_t *buf); // External relay control
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void RS485_Init(); // Example Initialize the system serial port and RS485
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void RS485_Loop(); // Read RS485 data, parse and control relays
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void RS485Task(void *parameter);
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