mirror of
https://github.com/openmv/openmv.git
synced 2025-11-04 14:49:50 +08:00
Update modbus.py
add more check
This commit is contained in:
parent
8c8e1abbd8
commit
f38dcc3505
@ -1,15 +1,12 @@
|
||||
import struct
|
||||
|
||||
class ModbusRTU():
|
||||
def __init__(self, uart, slave_id=0x01):
|
||||
def __init__(self, uart, slave_id=0x01, register_num=30):
|
||||
self.SLAVE_ID = slave_id
|
||||
self.uart = uart
|
||||
self.uart.init(19200, bits=8, parity=0, stop=1, timeout=1, timeout_char=4)
|
||||
self.HOLDING_REGISTERS = [0]*30
|
||||
def any(self):
|
||||
return self.uart.any()
|
||||
def crc16(self, data):
|
||||
crc = 0xFFFF
|
||||
CRC16_TABLE = [
|
||||
self.register_num = register_num
|
||||
self.REGISTER = [0]*self.register_num
|
||||
self.CRC16_TABLE = [
|
||||
0x0000,0xC0C1,0xC181,0x0140,0xC301,0x03C0,0x0280,0xC241,0xC601,
|
||||
0x06C0,0x0780,0xC741,0x0500,0xC5C1,0xC481,0x0440,0xCC01,0x0CC0,
|
||||
0x0D80,0xCD41,0x0F00,0xCFC1,0xCE81,0x0E40,0x0A00,0xCAC1,0xCB81,
|
||||
@ -38,28 +35,48 @@ class ModbusRTU():
|
||||
0x48C0,0x4980,0x8941,0x4B00,0x8BC1,0x8A81,0x4A40,0x4E00,0x8EC1,
|
||||
0x8F81,0x4F40,0x8D01,0x4DC0,0x4C80,0x8C41,0x4400,0x84C1,0x8581,
|
||||
0x4540,0x8701,0x47C0,0x4680,0x8641,0x8201,0x42C0,0x4380,0x8341,
|
||||
0x4100,0x81C1,0x8081,0x4040
|
||||
]
|
||||
0x4100,0x81C1,0x8081,0x4040]
|
||||
def any(self):
|
||||
return self.uart.any()
|
||||
def clear(self):
|
||||
self.REGISTER = [0]*self.register_num
|
||||
def crc16(self, data):
|
||||
crc = 0xFFFF
|
||||
for char in data:
|
||||
crc = (crc >> 8) ^ CRC16_TABLE[((crc) ^ char) & 0xFF]
|
||||
crc = (crc >> 8) ^ self.CRC16_TABLE[((crc) ^ char) & 0xFF]
|
||||
return struct.pack('<H',crc)
|
||||
def handle(self):
|
||||
def handle(self, debug = False):
|
||||
REQUEST = self.uart.read()
|
||||
if debug:
|
||||
print("GOT REQUEST: ", REQUEST)
|
||||
additional_address = REQUEST[0]
|
||||
error_check = REQUEST[-2:]
|
||||
function_code = REQUEST[1]
|
||||
data = REQUEST[2:]
|
||||
RESPONSE = struct.pack('b', self.SLAVE_ID)
|
||||
if self.crc16(REQUEST[:-2]) != error_check:
|
||||
if debug:
|
||||
print("crc not match")
|
||||
return 0 # do nothing
|
||||
if self.SLAVE_ID != additional_address:
|
||||
RESPONSE += struct.pack('b', function_code|0x80)
|
||||
RESPONSE += struct.pack('b', 0x04)#SLAVE_ID
|
||||
elif self.crc16(REQUEST[:-2]) != error_check:
|
||||
RESPONSE += struct.pack('b', function_code|0x80)
|
||||
RESPONSE += struct.pack('b', 0x04)#CRC error
|
||||
elif function_code == 0x03:
|
||||
if debug:
|
||||
print("OpenMV slave id: ", self.SLAVE_ID)
|
||||
print("got cmd id: ", additional_address)
|
||||
return 0 # do nothing
|
||||
if function_code == 0x03:
|
||||
starting_address = struct.unpack('>h', data[:2])[0]
|
||||
quantity_of_registers = struct.unpack('>h', data[2:4])[0]
|
||||
response_registers = self.HOLDING_REGISTERS[starting_address:starting_address+quantity_of_registers]
|
||||
response_registers = []
|
||||
try:
|
||||
for i in range(starting_address, starting_address+quantity_of_registers):
|
||||
response_registers.append(self.REGISTER[i])
|
||||
except IndexError as err:
|
||||
RESPONSE += struct.pack('b', function_code|0x80)
|
||||
RESPONSE += struct.pack('b', 0x02) # Illegal Data Address
|
||||
if debug:
|
||||
print("Illegal Data Address: ")
|
||||
print(err)
|
||||
else:
|
||||
RESPONSE += struct.pack('b', function_code)
|
||||
RESPONSE += struct.pack('b', 2*quantity_of_registers)
|
||||
for b in response_registers:
|
||||
@ -67,26 +84,50 @@ class ModbusRTU():
|
||||
elif function_code == 0x06:
|
||||
register_address = struct.unpack('>h', data[:2])[0]
|
||||
register_value = struct.unpack('>h', data[2:4])[0]
|
||||
self.HOLDING_REGISTERS[register_address] = register_value
|
||||
try:
|
||||
self.REGISTER[register_address] = register_value
|
||||
except IndexError as err:
|
||||
RESPONSE += struct.pack('b', function_code|0x80)
|
||||
RESPONSE += struct.pack('b', 0x02) # Illegal Data Address
|
||||
if debug:
|
||||
print("Illegal Data Address: ")
|
||||
print(err)
|
||||
else:
|
||||
RESPONSE += struct.pack('b', function_code)
|
||||
RESPONSE += struct.pack('>h', register_address)
|
||||
RESPONSE += struct.pack('>h', self.HOLDING_REGISTERS[register_address])
|
||||
RESPONSE += struct.pack('>h', self.REGISTER[register_address])
|
||||
elif function_code == 0x10:
|
||||
starting_address = struct.unpack('>h', data[:2])[0]
|
||||
quantity_of_registers = struct.unpack('>h', data[2:4])[0]
|
||||
byte_of_registers = struct.unpack('b', data[4:5])[0]
|
||||
try:
|
||||
if byte_of_registers != 2*quantity_of_registers:
|
||||
raise struct.error
|
||||
values = struct.unpack('>%dh'%quantity_of_registers, data[5:])
|
||||
self.HOLDING_REGISTERS[starting_address:starting_address+quantity_of_registers] = values
|
||||
if byte_of_registers == 2*quantity_of_registers:
|
||||
except struct.error as err:
|
||||
RESPONSE += struct.pack('b', function_code|0x80)
|
||||
RESPONSE += struct.pack('b', 0x03) # Illegal Data Value
|
||||
if debug:
|
||||
print("Illegal Data Value, data length error")
|
||||
else:
|
||||
try:
|
||||
for i in range(quantity_of_registers):
|
||||
self.REGISTER[starting_address+i] = values[i]
|
||||
except IndexError as err:
|
||||
RESPONSE += struct.pack('b', function_code|0x80)
|
||||
RESPONSE += struct.pack('b', 0x02) # Illegal Data Address
|
||||
if debug:
|
||||
print("Illegal Data Address: ")
|
||||
print(err)
|
||||
else:
|
||||
RESPONSE += struct.pack('b', function_code)
|
||||
RESPONSE += struct.pack('>h', starting_address)
|
||||
RESPONSE += struct.pack('>h', quantity_of_registers)
|
||||
else:
|
||||
RESPONSE += struct.pack('b', function_code|0x80)
|
||||
RESPONSE += struct.pack('b', 0x04)
|
||||
else:
|
||||
RESPONSE += struct.pack('b', function_code|0x80)
|
||||
RESPONSE += struct.pack('b', 0x01)#not support
|
||||
RESPONSE += struct.pack('b', 0x01) # Illegal Function
|
||||
RESPONSE += self.crc16(RESPONSE)
|
||||
print(RESPONSE)
|
||||
if debug:
|
||||
print("FUNCTION CODE: ", function_code)
|
||||
print("RESPONSE: ", RESPONSE)
|
||||
self.uart.write(RESPONSE)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user