Modified the AT91SAM7S port and the ATmega168 port to use a slimmed down MS/TP state machine and datalink layer. Tested on AT91SAM7S-EK board.
This commit is contained in:
skarg
+4
-11
@@ -56,21 +56,14 @@
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#define BACNET_MIN_PRIORITY 1
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#define BACNET_MAX_PRIORITY 16
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/* embedded systems need fixed name sizes */
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#define MAX_OBJECT_NAME 10
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/* common object properties */
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typedef struct BACnet_Object_Data {
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uint32_t Object_Identifier;
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char Object_Name[MAX_OBJECT_NAME];
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BACNET_OBJECT_TYPE Object_Type;
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} BACNET_OBJECT_DATA;
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#define BACNET_BROADCAST_NETWORK 0xFFFF
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/* IPv6 (16 octets) coupled with port number (2 octets) */
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/* note: you could be lame and only support 6 octets */
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/* FIXME: mac[] only needs to be as big as our datalink MAC */
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#define MAX_MAC_LEN 18
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struct BACnet_Device_Address {
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/* mac_len = 0 if global address */
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int mac_len;
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uint8_t mac_len;
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/* note: MAC for IP addresses uses 4 bytes for addr, 2 bytes for port */
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/* use de/encode_unsigned32/16 for re/storing the IP address */
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uint8_t mac[MAX_MAC_LEN];
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@@ -80,7 +73,7 @@ struct BACnet_Device_Address {
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uint16_t net; /* BACnet network number */
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/* LEN = 0 denotes broadcast MAC ADR and ADR field is absent */
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/* LEN > 0 specifies length of ADR field */
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int len; /* length of MAC address */
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uint8_t len; /* length of MAC address */
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uint8_t adr[MAX_MAC_LEN]; /* hwaddr (MAC) address */
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};
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typedef struct BACnet_Device_Address BACNET_ADDRESS;
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+1093
-242
File diff suppressed because it is too large
Load Diff
@@ -18,10 +18,14 @@ BACNET_FLAGS += -DPRINT_ENABLED=0
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BACNET_FLAGS += -DMAX_APDU=480
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#BACNET_FLAGS += -DDLMSTP_TEST
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INCLUDES = -I. -I../.. -I../../demo/handler -I../../demo/object
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BACNET_ROOT = ../..
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INCLUDES = -I.
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INCLUDES += -I$(BACNET_ROOT)
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INCLUDES += -I$(BACNET_ROOT)/demo/handler
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INCLUDES += -I$(BACNET_ROOT)/demo/object
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#OPTIMIZATION = -O0
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OPTIMIZATION = -Os
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CFLAGS = -fno-common $(OPTIMIZATION) $(INCLUDES) $(BACNET_FLAGS) -Wall -g
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CFLAGS = -fno-common $(INCLUDES) $(BACNET_FLAGS) -Wall -g
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LIBRARY = lib$(TARGET).a
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# -Wa,<options> Pass comma-separated <options> on to the assembler
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AFLAGS = -Wa,-ahls,-mapcs-32,-adhlns=$(<:.s=.lst)
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@@ -40,8 +44,7 @@ PORTSRC = main.c \
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blinker.c \
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rs485.c \
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dlmstp.c \
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../../crc.c \
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../../mstp.c
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$(BACNET_ROOT)/crc.c
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DEMOSRC = ai.c \
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av.c \
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@@ -50,29 +53,29 @@ DEMOSRC = ai.c \
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h_rp.c \
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h_wp.c \
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device.c \
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../../demo/handler/txbuf.c \
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../../demo/handler/h_whois.c \
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../../demo/handler/h_rd.c \
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../../demo/handler/h_dcc.c
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$(BACNET_ROOT)/demo/handler/txbuf.c \
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$(BACNET_ROOT)/demo/handler/h_whois.c \
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$(BACNET_ROOT)/demo/handler/h_rd.c \
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$(BACNET_ROOT)/demo/handler/h_dcc.c
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CORESRC = ../../npdu.c \
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../../bacint.c \
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../../apdu.c \
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../../bacdcode.c \
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../../bacaddr.c \
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../../bacstr.c \
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../../abort.c \
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../../bacerror.c \
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../../reject.c \
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../../bacapp.c \
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../../datetime.c \
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../../rp.c \
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../../wp.c \
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../../dcc.c \
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../../rd.c \
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../../whois.c \
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../../iam.c \
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../../version.c
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CORESRC = $(BACNET_ROOT)/npdu.c \
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$(BACNET_ROOT)/bacint.c \
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$(BACNET_ROOT)/apdu.c \
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$(BACNET_ROOT)/bacdcode.c \
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$(BACNET_ROOT)/bacaddr.c \
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$(BACNET_ROOT)/bacstr.c \
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$(BACNET_ROOT)/abort.c \
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$(BACNET_ROOT)/bacerror.c \
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$(BACNET_ROOT)/reject.c \
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$(BACNET_ROOT)/bacapp.c \
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$(BACNET_ROOT)/datetime.c \
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$(BACNET_ROOT)/rp.c \
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$(BACNET_ROOT)/wp.c \
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$(BACNET_ROOT)/dcc.c \
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$(BACNET_ROOT)/rd.c \
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$(BACNET_ROOT)/whois.c \
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$(BACNET_ROOT)/iam.c \
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$(BACNET_ROOT)/version.c
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CSRC = $(PORTSRC) $(DEMOSRC)
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#CSRC = $(PORTSRC)
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@@ -96,8 +99,21 @@ lib: $(LIBRARY)
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$(LIBRARY): $(COREOBJ) Makefile
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$(AR) rcs $@ $(COREOBJ)
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# allow a single file to be unoptimized for debugging purposes
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#dlmstp.o:
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# $(CC) -c $(CFLAGS) $*.c -o $@
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#
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#main.o:
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# $(CC) -c $(CFLAGS) $*.c -o $@
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#
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#$(BACNET_ROOT)/npdu.o:
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# $(CC) -c $(CFLAGS) $*.c -o $@
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#
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#$(BACNET_ROOT)/apdu.o:
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# $(CC) -c $(CFLAGS) $*.c -o $@
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.c.o:
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$(CC) -c $(CFLAGS) $*.c -o $@
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$(CC) -c $(OPTIMIZATION) $(CFLAGS) $*.c -o $@
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.s.o:
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$(CC) -c $(AFLAGS) $*.s -o $@
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@@ -32,7 +32,6 @@
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#include <stdbool.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include "mstp.h"
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#include "timer.h"
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/* This file has been customized for use with UART0
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@@ -44,16 +43,17 @@ static volatile AT91S_USART *RS485_Interface = AT91C_BASE_US0;
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/* baud rate */
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static int RS485_Baud = 38400;
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/****************************************************************************
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* DESCRIPTION: Sets the interface - UART0 or UART1 or...
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* RETURN: none
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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void RS485_Set_Interface(char *ifname)
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{
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RS485_Interface = (volatile AT91S_USART *)ifname;
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}
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/* The minimum time after the end of the stop bit of the final octet of a */
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/* received frame before a node may enable its EIA-485 driver: 40 bit times. */
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/* At 9600 baud, 40 bit times would be about 4.166 milliseconds */
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/* At 19200 baud, 40 bit times would be about 2.083 milliseconds */
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/* At 38400 baud, 40 bit times would be about 1.041 milliseconds */
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/* At 57600 baud, 40 bit times would be about 0.694 milliseconds */
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/* At 76800 baud, 40 bit times would be about 0.520 milliseconds */
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/* At 115200 baud, 40 bit times would be about 0.347 milliseconds */
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/* 40 bits is 4 octets including a start and stop bit with each octet */
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#define Tturnaround (40UL)
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/* turnaround_time_milliseconds = (Tturnaround*1000UL)/RS485_Baud; */
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/****************************************************************************
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* DESCRIPTION: Initializes the RS485 hardware and variables, and starts in
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@@ -152,27 +152,51 @@ bool RS485_Set_Baud_Rate(uint32_t baud)
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return valid;
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}
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/* Transmits a Frame on the wire */
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void RS485_Send_Frame(
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volatile struct mstp_port_struct_t *mstp_port, /* port specific data */
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uint8_t * buffer, /* frame to send (up to 501 bytes of data) */
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uint16_t nbytes) /* number of bytes of data (up to 501) */
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/****************************************************************************
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* DESCRIPTION: Waits on the SilenceTimer for 40 bits.
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* RETURN: none
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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void RS485_Turnaround_Delay(void)
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{
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uint8_t turnaround_time;
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uint16_t turnaround_time;
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/* delay after reception before trasmitting - per MS/TP spec */
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/* wait a minimum 40 bit times since reception */
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/* at least 1 ms for errors: rounding, clock tick */
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turnaround_time = 1 + ((Tturnaround*1000UL)/RS485_Baud);
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while (Timer_Silence() < turnaround_time) {
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/* do nothing - wait for timer to increment */
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};
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}
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/* delay after reception - per MS/TP spec */
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if (mstp_port) {
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/* wait a minimum 40 bit times since reception */
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/* at least 1 ms for errors: rounding, clock tick */
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turnaround_time = 1 + ((Tturnaround*1000)/RS485_Baud);
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while (mstp_port->SilenceTimer() < turnaround_time) {
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/* do nothing - wait for timer to increment */
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};
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}
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/* toggle LED on send */
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/****************************************************************************
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* DESCRIPTION: Enable or disable the transmitter
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* RETURN: none
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* ALGORITHM: none
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* NOTES: The Atmel ARM7 has an automatic enable/disable in RS485 mode.
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*****************************************************************************/
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void RS485_Transmitter_Enable(bool enable)
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{
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(void)enable;
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}
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/****************************************************************************
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* DESCRIPTION: Send some data and wait until it is sent
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* RETURN: none
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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void RS485_Send_Data(
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uint8_t * buffer, /* data to send */
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uint16_t nbytes) /* number of bytes of data */
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{
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/* LED on send */
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volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA;
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/* LED ON */
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pPIO->PIO_CODR = LED1;
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/* send all the bytes */
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while (nbytes) {
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while (!(RS485_Interface->US_CSR & AT91C_US_TXRDY)) {
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/* do nothing - wait until Tx buffer is empty */
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@@ -180,60 +204,78 @@ void RS485_Send_Frame(
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RS485_Interface->US_THR = *buffer;
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buffer++;
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nbytes--;
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/* per MSTP spec */
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if (mstp_port) {
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mstp_port->SilenceTimerReset();
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}
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}
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while (!(RS485_Interface->US_CSR & AT91C_US_TXRDY)) {
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/* do nothing - wait until Tx buffer is empty */
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}
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return;
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/* per MSTP spec */
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Timer_Silence_Reset();
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}
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/* called by timer, interrupt(?) or other thread */
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void RS485_Check_UART_Data(struct mstp_port_struct_t *mstp_port)
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/****************************************************************************
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* DESCRIPTION: Return true if a framing or overrun error is present
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* RETURN: true if error
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* ALGORITHM: none
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* NOTES: Clears any error flags.
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*****************************************************************************/
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bool RS485_ReceiveError(void)
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{
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bool ReceiveError = false;
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/* LED on send */
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volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA;
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if (mstp_port->ReceiveError == true) {
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/* wait for state machine to clear this */
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} else if (mstp_port->DataAvailable == false) {
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/* check for data or error */
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if (RS485_Interface->US_CSR & (AT91C_US_OVRE | AT91C_US_FRAME)) {
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/* clear the error flag */
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RS485_Interface->US_CR = AT91C_US_RSTSTA;
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mstp_port->ReceiveError = true;
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/* LED ON */
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pPIO->PIO_CODR = LED2;
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} else if ( RS485_Interface->US_CSR & AT91C_US_RXRDY) {
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/* data is available */
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mstp_port->DataRegister = RS485_Interface->US_RHR;
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mstp_port->DataAvailable = true;
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/* LED ON */
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pPIO->PIO_CODR = LED2;
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}
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/* check for data or error */
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if (RS485_Interface->US_CSR & (AT91C_US_OVRE | AT91C_US_FRAME)) {
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/* clear the error flag */
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RS485_Interface->US_CR = AT91C_US_RSTSTA;
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ReceiveError = true;
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/* LED ON */
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pPIO->PIO_CODR = LED2;
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}
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return ReceiveError;
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}
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/****************************************************************************
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* DESCRIPTION: Return true if data is available
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* RETURN: true if data is available, with the data in the parameter set
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* ALGORITHM: none
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* NOTES: none
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*****************************************************************************/
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bool RS485_DataAvailable(uint8_t *DataRegister)
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{
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bool DataAvailable = false;
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/* LED on send */
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volatile AT91PS_PIO pPIO = AT91C_BASE_PIOA;
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if ( RS485_Interface->US_CSR & AT91C_US_RXRDY) {
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/* data is available */
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*DataRegister = RS485_Interface->US_RHR;
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DataAvailable = true;
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/* LED ON */
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pPIO->PIO_CODR = LED2;
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}
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return DataAvailable;
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}
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#ifdef TEST_RS485
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static struct mstp_port_struct_t MSTP_Port;
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int main(void)
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{
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unsigned i = 0;
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uint8_t DataRegister;
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RS485_Set_Baud_Rate(38400);
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RS485_Initialize();
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/* receive task */
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for (;;) {
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RS485_Check_UART_Data(&MSTP_Port);
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if (MSTP_Port.DataAvailable) {
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fprintf(stderr,"%02X ",MSTP_Port.DataRegister);
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MSTP_Port.DataAvailable = false;
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if (RS485_DataAvailable(&DataRegister)) {
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fprintf(stderr,"%02X ",DataRegister);
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} else if (RS485_ReceiveError()) {
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fprintf(stderr,"ERROR ");
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}
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}
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}
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#endif /* TEST_ABORT */
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#endif
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@@ -27,24 +27,24 @@
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#define RS485_H
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#include <stdint.h>
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#include "mstp.h"
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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void RS485_Set_Interface(char *ifname);
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void RS485_Initialize(void);
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void RS485_Send_Frame(
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volatile struct mstp_port_struct_t *mstp_port, /* port specific data */
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uint8_t * buffer, /* frame to send (up to 501 bytes of data) */
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uint16_t nbytes); /* number of bytes of data (up to 501) */
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void RS485_Transmitter_Enable(bool enable);
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uint8_t RS485_Check_UART_Data(
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volatile struct mstp_port_struct_t *mstp_port); /* port specific data */
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/* NOTE: Only able to send up to 255 bytes at a time */
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void RS485_Send_Data(
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uint8_t * buffer, /* data to send */
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uint16_t nbytes); /* number of bytes of data */
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bool RS485_ReceiveError(void);
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bool RS485_DataAvailable(uint8_t *data);
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void RS485_Turnaround_Delay(void);
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uint32_t RS485_Get_Baud_Rate(void);
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bool RS485_Set_Baud_Rate(uint32_t baud);
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@@ -48,7 +48,7 @@
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/* global variable counts interrupts */
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volatile unsigned long Timer_Milliseconds;
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/* MS/TP Silence Timer */
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static volatile uint16_t SilenceTime;
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static volatile int SilenceTime;
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||||
static void Timer0_Setup(int milliseconds) {
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// TC Block Control Register TC_BCR (read/write)
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@@ -306,11 +306,11 @@ static void Timer0IrqHandler (void) {
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dummy = pTC->TC_SR;
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// increment the tick count
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Timer_Milliseconds++;
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if (SilenceTime < 0xFFFF)
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if (SilenceTime < 60000)
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SilenceTime++;
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}
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||||
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uint16_t Timer_Silence(void)
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int Timer_Silence(void)
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{
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return SilenceTime;
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||||
}
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||||
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@@ -35,7 +35,7 @@ extern "C" {
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#endif /* __cplusplus */
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||||
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void TimerInit(void);
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uint16_t Timer_Silence(void);
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int Timer_Silence(void);
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void Timer_Silence_Reset(void);
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#ifdef __cplusplus
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@@ -441,7 +441,6 @@ static void MSTP_Send_Frame(
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RS485_Send_Data(buffer, 2);
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}
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RS485_Transmitter_Enable(false);
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Timer_Silence_Reset();
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}
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||||
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||||
static void MSTP_Receive_Frame_FSM(void)
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@@ -1243,6 +1242,9 @@ uint16_t dlmstp_receive(
|
||||
if (MSTP_Flag.ReceivePacketPending) {
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||||
MSTP_Flag.ReceivePacketPending = false;
|
||||
pdu_len = DataLength;
|
||||
src->mac_len = 1;
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||||
src->mac[0] = SourceAddress;
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||||
/* data is already in the pdu pointer */
|
||||
}
|
||||
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||||
return pdu_len;
|
||||
|
||||
@@ -180,6 +180,8 @@ void RS485_Send_Data(
|
||||
/* do nothing - wait until the entire frame in the
|
||||
Transmit Shift Register has been shifted out */
|
||||
}
|
||||
/* per MSTP spec */
|
||||
Timer_Silence_Reset();
|
||||
}
|
||||
|
||||
|
||||
@@ -191,25 +193,25 @@ void RS485_Send_Data(
|
||||
*****************************************************************************/
|
||||
bool RS485_ReceiveError(void)
|
||||
{
|
||||
bool uart_error = false;
|
||||
bool ReceiveError = false;
|
||||
uint8_t dummy_data;
|
||||
|
||||
/* check for framing error */
|
||||
if (BIT_CHECK(UCSR0A,FE0)) {
|
||||
uart_error = true;
|
||||
ReceiveError = true;
|
||||
}
|
||||
/* check for overrun error */
|
||||
if (BIT_CHECK(UCSR0A,DOR0)) {
|
||||
uart_error = true;
|
||||
ReceiveError = true;
|
||||
}
|
||||
/* flush the receive buffer */
|
||||
if (uart_error) {
|
||||
if (ReceiveError) {
|
||||
while (BIT_CHECK(UCSR0A,RXC0)) {
|
||||
dummy_data = UDR0;
|
||||
}
|
||||
}
|
||||
|
||||
return uart_error;
|
||||
return ReceiveError;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
@@ -230,3 +232,24 @@ bool RS485_DataAvailable(uint8_t *data)
|
||||
|
||||
return uart_data;
|
||||
}
|
||||
|
||||
#ifdef TEST_RS485
|
||||
int main(void)
|
||||
{
|
||||
unsigned i = 0;
|
||||
uint8_t DataRegister;
|
||||
|
||||
RS485_Set_Baud_Rate(38400);
|
||||
RS485_Initialize();
|
||||
/* receive task */
|
||||
for (;;) {
|
||||
if (RS485_DataAvailable(&DataRegister)) {
|
||||
fprintf(stderr,"%02X ",DataRegister);
|
||||
} else if (RS485_ReceiveError()) {
|
||||
fprintf(stderr,"ERROR ");
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
#endif /* TEST_ABORT */
|
||||
|
||||
|
||||
@@ -35,7 +35,6 @@
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
#include <string.h> /* memmove() */
|
||||
#include "bits.h"
|
||||
#include "apdu.h"
|
||||
#include "bacdef.h"
|
||||
|
||||
Reference in New Issue
Block a user