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Adjusted mutex lock and delay for modbus

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This commit is contained in:
Emanuele Trabattoni
2025-07-24 16:18:42 +02:00
parent 07dd200de8
commit cdbc904bec
11 changed files with 130 additions and 80 deletions
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18
lib/RS485/RS485_Driver.cpp
View File

@@ -66,6 +66,18 @@ namespace drivers
LOG_INFO("Init MODBUS Master Mode");
m_crc.reset(CRC16_MODBUS_POLYNOME, CRC16_MODBUS_INITIAL, CRC16_MODBUS_XOR_OUT, CRC16_MODBUS_REV_IN, CRC16_MAXIM_REV_OUT);
m_lastAccess = millis();
m_lastDevice = 0;
}
// Get transaction lock
std::unique_lock<std::mutex> MODBUS::getLock()
{
return std::unique_lock<std::mutex>(m_mutex);
}
std::mutex &MODBUS::getMutex()
{
return m_mutex;
}
void MODBUS::delayAccess(const uint8_t device)
@@ -74,12 +86,12 @@ namespace drivers
return;
auto now = millis();
if ((now - m_lastAccess) < c_minDelay) // fixed milliseconds delay between commands to different devices
{ // minimum m_lastRequest between requests
LOG_WARN("MODBUS access delay", now - m_lastAccess, "device", device);
{
LOG_WARN("MODBUS access delay", (now - m_lastAccess), "device", device);
delay(now - m_lastAccess);
}
m_lastAccess = millis();
m_lastDevice = device;
m_lastAccess = millis();
}
// Func 0x01

7
lib/RS485/RS485_Driver.h
View File

@@ -34,7 +34,7 @@ namespace drivers
const uint8_t c_respHeaderSize = 3;
const uint8_t c_respCrcSize = 2;
const uint16_t c_minDelay = 10;
const uint32_t c_minDelay = 500;
typedef struct
{
@@ -62,9 +62,8 @@ namespace drivers
MODBUS &operator=(const MODBUS &) = delete;
// Get transaction lock
std::unique_lock<std::mutex> getLock() {
return std::unique_lock<std::mutex>(m_mutex);
}
std::unique_lock<std::mutex> getLock();
std::mutex &getMutex();
// Func 0x01
const bool readCoils(const uint8_t device, const uint16_t reg, const uint16_t num, std::vector<bool> &coils);

19
lib/SENECA/S50140_Driver.cpp
View File

@@ -13,6 +13,7 @@ namespace drivers
const S50140::powerinfo_t S50140::getAll()
{
powerinfo_t info{MAXFLOAT};
std::lock_guard<std::mutex> lock(m_bus.getMutex());
info.v = getV();
info.a = getA();
info.pAct = getPact();
@@ -27,47 +28,38 @@ namespace drivers
const float_t S50140::getV()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_V);
}
const float_t S50140::getA()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_A);
}
const float_t S50140::getPact()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_Pact);
}
const float_t S50140::getPapp()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_Papp);
}
const float_t S50140::getPrea()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_Prea);
}
const float_t S50140::getPf()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_Pf);
}
const float_t S50140::getF()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_Freq);
}
const float_t S50140::getWhTot()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_WhTot);
}
const float_t S50140::getWhPar()
{
auto lock = m_bus.getLock();
return readFloatReg(REG_WhPart);
}
@@ -76,6 +68,7 @@ namespace drivers
auto now = millis();
if ((now - m_lastRequest) < c_minDelay)
{ // minimum m_lastRequest between requests
LOG_DEBUG("S50140 delay request", (now-m_lastRequest));
delay(now - m_lastRequest);
}
m_lastRequest = millis();
@@ -84,19 +77,19 @@ namespace drivers
const uint8_t S50140::getRegset()
{
std::vector<uint16_t> value;
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
auto lock = m_bus.getLock();
m_bus.readHoldingRegisters(m_address, REG_Regset, 2, value);
if (value.empty())
return UINT8_MAX;
return UINT8_MAX;
return value.front() + value.back();
}
const uint16_t S50140::getCounterStatus()
{
std::vector<uint16_t> value;
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
auto lock = m_bus.getLock();
m_bus.readHoldingRegisters(m_address, REG_PartCount, 2, value);
if (value.empty())
return UINT16_MAX;
@@ -110,11 +103,11 @@ namespace drivers
constexpr uint16_t resetAll = 0x0A03;
constexpr uint16_t stopAll = 0x0A02;
constexpr uint16_t startAll = 0x0A01;
std::lock_guard<std::mutex> lock(m_bus.getMutex());
while (retries++ < c_maxRetries)
{
bool ok(true);
delayRequest();
auto lock = m_bus.getLock();
LOG_WARN("Powermeter Counter STOP");
ok &= m_bus.writeRegisters(m_address, REG_PartCount, {nullVal, stopAll});
delayRequest();

4
lib/SENECA/S50140_Driver.h
View File

@@ -13,7 +13,7 @@ namespace drivers
private:
const uint8_t c_maxRetries = 5;
const uint8_t c_dataWords = 2;
const uint16_t c_minDelay = 500;
const uint32_t c_minDelay = 500;
const uint16_t REG_V = 0x100C;
const uint16_t REG_A = 0x1016;
@@ -80,6 +80,6 @@ namespace drivers
private:
const uint8_t m_address;
drivers::MODBUS &m_bus;
uint64_t m_lastRequest;
uint32_t m_lastRequest;
};
}

44
lib/TEMP/R4DCB08_Driver.cpp
View File

@@ -5,12 +5,24 @@ namespace drivers
R4DCB08::R4DCB08(drivers::MODBUS &bus, const uint8_t address) : m_address(address), m_bus(bus), m_sensors(0)
{
m_sensors = getNum();
m_lastRequest = millis();
}
R4DCB08::~R4DCB08()
{
}
void R4DCB08::delayRequest()
{
auto now = millis();
if ((now - m_lastRequest) < c_minDelay)
{ // minimum m_lastRequest between requests
LOG_DEBUG("R4DCB08 delay request", (now-m_lastRequest));
delay(now - m_lastRequest);
}
m_lastRequest = millis();
}
const float R4DCB08::getTemp(const uint8_t ch)
{
uint8_t retries(0);
@@ -20,16 +32,16 @@ namespace drivers
LOG_ERROR("Invalid Temperature Channel number", ch);
return MAXFLOAT;
}
auto lock = m_bus.getLock();
while (retries++ < maxRetries)
std::lock_guard<std::mutex> lock(m_bus.getMutex());
while (retries++ < c_maxRetries)
{
delayRequest();
if (m_bus.readHoldingRegisters(m_address, REG_TEMP + ch, 1, rawT) && !rawT.empty())
{
return rawT.front() / 10.0f;
}
LOG_ERROR("Failed to Read Temperature, device", m_address, "channel", ch);
rawT.clear();
delay(50);
}
return MAXFLOAT;
}
@@ -39,9 +51,10 @@ namespace drivers
uint8_t retries(0);
std::vector<uint16_t> rawT;
std::vector<float> out;
auto lock = m_bus.getLock();
while (retries++ < maxRetries)
std::lock_guard<std::mutex> lock(m_bus.getMutex());
while (retries++ < c_maxRetries)
{
delayRequest();
if (m_bus.readHoldingRegisters(m_address, REG_TEMP, getNum(), rawT) && !rawT.empty())
{
out.reserve(rawT.size());
@@ -53,7 +66,6 @@ namespace drivers
}
LOG_ERROR("Failed to Read All Temperature, device", m_address);
rawT.clear();
delay(50);
}
out.clear();
return out;
@@ -64,20 +76,18 @@ namespace drivers
uint8_t retries(0);
uint8_t channel(0);
corr.resize(getNum()); // max number of temperature correction values is equal to number of sensors
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
for (auto v : corr)
{
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
delayRequest();
if (m_bus.writeRegister(m_address, REG_TEMPCORR + channel, v * 10)) // convert to decimal degreees to register value
{
channel++;
delay(50);
break;
}
LOG_ERROR("Failed to Set Temperature Correction, device", m_address);
delay(50);
}
}
}
@@ -89,9 +99,10 @@ namespace drivers
std::vector<float> out;
rawV.reserve(getNum());
while (retries++ < maxRetries)
std::lock_guard<std::mutex> lock(m_bus.getMutex());
while (retries++ < c_maxRetries)
{
auto lock = m_bus.getLock();
delayRequest();
if (m_bus.readHoldingRegisters(m_address, REG_TEMPCORR, getNum(), rawV))
{
out.reserve(rawV.size());
@@ -103,7 +114,6 @@ namespace drivers
}
LOG_ERROR("Failed to Get Temperature Correction, device", m_address);
rawV.clear();
delay(50);
}
out.clear();
return out;
@@ -116,9 +126,10 @@ namespace drivers
uint8_t retries(0);
uint8_t sensors(0);
std::vector<uint16_t> rawT;
while (retries++ < maxRetries)
std::lock_guard<std::mutex> lock(m_bus.getMutex());
while (retries++ < c_maxRetries)
{
auto lock = m_bus.getLock();
delayRequest();
if (m_bus.readHoldingRegisters(m_address, REG_TEMP, T_MAX, rawT))
{
for (auto v : rawT)
@@ -130,7 +141,6 @@ namespace drivers
return m_sensors;
}
LOG_ERROR("Failed to Get Sensor Number, device", m_address);
delay(50);
}
LOG_ERROR("No Temperature Sensors Detected, device", m_address);
return 0;

8
lib/TEMP/R4DCB08_Driver.h
View File

@@ -25,7 +25,9 @@ namespace drivers
T_MAX
};
const uint8_t maxRetries = 5;
private:
const uint8_t c_maxRetries = 5;
const uint32_t c_minDelay = 500;
const uint16_t REG_TEMP = 0x0000;
const uint16_t REG_TEMPCORR = 0x0008;
@@ -41,9 +43,13 @@ namespace drivers
const uint8_t getNum();
private:
void delayRequest();
private:
const uint8_t m_address;
uint8_t m_sensors;
MODBUS &m_bus;
uint32_t m_lastRequest;
};
}

20
src/digitalIO.cpp
View File

@@ -146,7 +146,7 @@ const uint8_t digitalIO::getInNum()
void digitalIO::writeLocal(const uint8_t ch, const bool value)
{
uint8_t retries(0);
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
if (m_localOuts.setOut(ch, value))
{
@@ -166,7 +166,7 @@ void digitalIO::writeLocalPort(const std::vector<bool> &values)
if (values[i])
decValue |= High << i;
}
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
if (m_localOuts.setPort(decValue))
{
@@ -182,7 +182,7 @@ void digitalIO::writeRemote(const uint8_t ch, const bool value)
uint8_t retries(0);
const uint8_t selectedRemote(floor(ch / (float)remoteIO::CH_MAX));
const uint8_t selectedChannel(ch % remoteIO::CH_MAX);
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
if (m_remotes[selectedRemote].setOut((remoteIO::channel_t)selectedChannel, value))
{
@@ -196,7 +196,7 @@ void digitalIO::writeRemote(const uint8_t ch, const bool value)
void digitalIO::writeRemotePort(const std::vector<bool> &values)
{
uint8_t retries(0);
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
bool ok(true);
for (uint8_t i(0); i < values.size(); i += remoteIO::CH_MAX)
@@ -228,7 +228,7 @@ const bool digitalIO::readLocalOut(const uint8_t ch)
{
bool value(false);
uint8_t retries(0);
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
if (m_localOuts.readOut(ch, value))
{
@@ -256,7 +256,7 @@ const std::vector<bool> digitalIO::readLocalOutPort()
uint8_t retries(0);
uint8_t state(0);
std::vector<bool> values(getLocalOutNum());
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
if (m_localOuts.readPort(state))
{
@@ -279,7 +279,7 @@ const bool digitalIO::readRemoteIn(const uint8_t ch)
const uint8_t selectedRemote(floor(ch / 8.0f));
const uint8_t selectedChannel(ch % remoteIO::CH_MAX);
bool value;
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
if (m_remotes[selectedRemote].getIn((remoteIO::channel_t)selectedChannel, value))
{
@@ -297,7 +297,7 @@ const bool digitalIO::readRemoteOut(const uint8_t ch)
const uint8_t selectedRemote(floor(ch / (float)remoteIO::CH_MAX));
const uint8_t selectedChannel(ch % remoteIO::CH_MAX);
bool value;
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
if (m_remotes[selectedRemote].getOut((remoteIO::channel_t)selectedChannel, value))
{
@@ -314,7 +314,7 @@ const std::vector<bool> digitalIO::readRemoteInPort()
uint8_t retries(0);
std::vector<bool> values;
values.reserve(getRemoteInNum());
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
bool ok(true);
for (uint8_t i(0); i < getRemoteInNum(); i += remoteIO::CH_MAX)
@@ -343,7 +343,7 @@ const std::vector<bool> digitalIO::readRemoteOutPort()
uint8_t retries(0);
std::vector<bool> values;
values.reserve(getRemoteOutNum());
while (retries++ < maxRetries)
while (retries++ < c_maxRetries)
{
bool ok(true);
for (uint8_t i(0); i < getRemoteOutNum(); i += remoteIO::CH_MAX)

2
src/digitalIO.h
View File

@@ -28,7 +28,7 @@ private:
DI_MAX
};
const uint8_t maxRetries = 5;
const uint8_t c_maxRetries = 5;
public:
digitalIO(drivers::I2C &i2c, drivers::MODBUS &bus, std::vector<uint8_t> remotes);

21
src/main.cpp
View File

@@ -140,17 +140,8 @@ void loop()
{
LOG_INFO("Temperature channel", i++, "->", v);
}
i = 0;
delay(10);
for (auto v : tmp.getCorrection())
{
LOG_INFO("Temperature correction channel", i++, "tc", v);
}
delay(100);
drivers::S50140::powerinfo_t pinfo = seneca.getAll();
LOG_INFO("Power Info ==> V:", pinfo.v, "- A:", pinfo.a, "- W:", pinfo.pAct, "- F:", pinfo.f, "- Wh_t:", pinfo.whTot, "- Wh_p:", pinfo.whPar);
LOG_INFO("Read Red");
if (io.digitalInRead(0)) // rosso
{
std::vector<bool> v1 = {1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0};
@@ -159,13 +150,11 @@ void loop()
LOG_INFO("SET Digital Outputs V1: ", printBoolVec(v1).c_str());
io.digitalOutWritePort(v1);
delay(100);
LOG_INFO("GET Digital Outputs V1: ", printBoolVec(io.digitalOutReadPort()).c_str());
delay(2000);
LOG_INFO("SET Digital Outputs V2: ", printBoolVec(v2).c_str());
io.digitalOutWritePort(v2);
delay(100);
LOG_INFO("GET Digital Outputs V2: ", printBoolVec(io.digitalOutReadPort()).c_str());
delay(2000);
@@ -173,9 +162,10 @@ void loop()
delay(2000);
io.digitalOutWritePort(v0);
delay(2000);
}
delay(100);
LOG_INFO("Read Blue");
if (io.digitalInRead(8)) // blu
{
if (!buzzing)
@@ -193,16 +183,21 @@ void loop()
LOG_INFO("Buzzing -> ", buzzing ? "True" : "False");
}
LOG_INFO("Read Green");
if (io.digitalInRead(9))
{ // verde
conf.resetConfig();
}
LOG_INFO("Read Yellow");
if (io.digitalInRead(10))
{ // giallo
esp_restart();
}
drivers::S50140::powerinfo_t pinfo = seneca.getAll();
LOG_INFO("Power Info ==> V:", pinfo.v, "- A:", pinfo.a, "- W:", pinfo.pAct, "- F:", pinfo.f, "- Wh_t:", pinfo.whTot, "- Wh_p:", pinfo.whPar);
delay(conf.m_globalLoopDelay);
}

35
src/remoteIO.cpp
View File

@@ -4,13 +4,14 @@ remoteIO::remoteIO(const uint8_t address, drivers::MODBUS &bus) : m_address(addr
{
LOG_INFO("Initializing relay module");
std::vector<uint16_t> response;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
if (!m_bus.readHoldingRegisters(m_address, REG_VERSION, 1, response))
{
LOG_ERROR("Unable to inizialize relay module");
};
LOG_INFO("Software version", std::to_string(response.at(0) / 100.0f).c_str());
m_initialized = true;
m_lastRequest = millis();
resetAll(false);
}
@@ -20,11 +21,23 @@ remoteIO::~remoteIO()
resetAll(false);
}
void remoteIO::delayRequest()
{
auto now = millis();
if ((now - m_lastRequest) < c_minDelay)
{ // minimum m_lastRequest between requests
LOG_DEBUG("remoteIO delay request", (now - m_lastRequest));
delay(now - m_lastRequest);
}
m_lastRequest = millis();
}
const bool remoteIO::setOut(const channel_t ch, const bool value)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
LOG_DEBUG("Write Channel", ch, "->", value ? "True" : "False");
return m_bus.writeCoil(m_address, REG_COILS + ch, value);
}
@@ -33,7 +46,8 @@ const bool remoteIO::toggleOut(const channel_t ch)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
std::vector<bool> value;
if (!m_bus.readCoils(m_address, REG_COILS + ch, 1, value))
return false;
@@ -45,7 +59,8 @@ const bool remoteIO::setOutPort(const std::vector<bool> values)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
LOG_DEBUG("Write Port", CH_MAX);
return m_bus.writeCoils(m_address, REG_COILS, values);
}
@@ -54,7 +69,8 @@ const bool remoteIO::getOut(const channel_t ch, bool &value)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
std::vector<bool> values;
if (!m_bus.readCoils(m_address, REG_COILS + ch, 1, values))
return false;
@@ -67,7 +83,8 @@ const bool remoteIO::getOutPort(std::vector<bool> &values)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
LOG_DEBUG("Read Port", CH_MAX);
return m_bus.readCoils(m_address, REG_COILS, CH_MAX, values);
}
@@ -76,7 +93,8 @@ const bool remoteIO::getIn(const channel_t input, bool &value)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
std::vector<bool> values;
if (!m_bus.readInputs(m_address, REG_INPUT + input, 1, values))
return false;
@@ -89,7 +107,8 @@ const bool remoteIO::getInPort(std::vector<bool> &values)
{
if (!m_initialized)
return false;
auto lock = m_bus.getLock();
std::lock_guard<std::mutex> lock(m_bus.getMutex());
delayRequest();
LOG_DEBUG("Read Inputs", CH_MAX);
return m_bus.readInputs(m_address, REG_INPUT, CH_MAX, values);
}

18
src/remoteIO.h
View File

@@ -8,9 +8,21 @@
class remoteIO
{
public:
typedef enum {CH1, CH2, CH3, CH4, CH5, CH6, CH7, CH8, CH_MAX} channel_t;
typedef enum
{
CH1,
CH2,
CH3,
CH4,
CH5,
CH6,
CH7,
CH8,
CH_MAX
} channel_t;
private:
const uint32_t c_minDelay = 100;
const uint16_t REG_VERSION = 0x8000;
const uint16_t REG_COILS = 0x0000;
const uint16_t REG_INPUT = 0x0000;
@@ -32,8 +44,12 @@ public:
void resetAll(const bool value);
private:
void delayRequest();
private:
bool m_initialized;
drivers::MODBUS &m_bus;
const uint8_t m_address;
uint32_t m_lastRequest;
};