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Getting the PIC port to function with MS/TP.

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This commit is contained in:
skarg
2006-08-10 21:12:01 +00:00
parent c36d28aa09
commit aba682950a
9 changed files with 514 additions and 148 deletions
Download Patch File Download Diff File Expand all files Collapse all files
bacnet-stack/ports/pic18/BACnet-Server.mcp
+131
View File
@@ -0,0 +1,131 @@
[HEADER]
magic_cookie={66E99B07-E706-4689-9E80-9B2582898A13}
file_version=1.0
[PATH_INFO]
dir_src=
dir_bin=
dir_tmp=
dir_sin=
dir_inc=C:\code\bacnet-stack;C:\code\bacnet-stack\demo\handler;C:\code\bacnet-stack\demo\object;C:\code\bacnet-stack\ports\pic18
dir_lib=C:\mcc18\lib
dir_lkr=
[CAT_FILTERS]
filter_src=*.asm;*.c
filter_inc=*.h;*.inc
filter_obj=*.o
filter_lib=*.lib
filter_lkr=*.lkr
[OTHER_FILES]
file_000=no
file_001=no
file_002=no
file_003=no
file_004=no
file_005=no
file_006=no
file_007=no
file_008=no
file_009=no
file_010=no
file_011=no
file_012=no
file_013=no
file_014=no
file_015=no
file_016=no
file_017=no
file_018=no
file_019=no
file_020=no
file_021=no
file_022=no
file_023=no
file_024=no
file_025=no
file_026=no
file_027=no
file_028=no
file_029=no
file_030=no
file_031=no
file_032=no
file_033=no
file_034=no
file_035=no
file_036=no
file_037=no
file_038=no
file_039=no
file_040=no
file_041=no
file_042=no
file_043=no
file_044=no
file_045=no
file_046=no
file_047=no
file_048=no
file_049=no
file_050=no
file_051=no
[FILE_INFO]
file_000=C:\code\bacnet-stack\abort.c
file_001=C:\code\bacnet-stack\apdu.c
file_002=C:\code\bacnet-stack\bacapp.c
file_003=C:\code\bacnet-stack\bacdcode.c
file_004=C:\code\bacnet-stack\bacerror.c
file_005=C:\code\bacnet-stack\bacstr.c
file_006=C:\code\bacnet-stack\crc.c
file_007=C:\code\bacnet-stack\datalink.c
file_008=C:\code\bacnet-stack\dcc.c
file_009=C:\code\bacnet-stack\iam.c
file_010=C:\code\bacnet-stack\mstp.c
file_011=C:\code\bacnet-stack\npdu.c
file_012=C:\code\bacnet-stack\rd.c
file_013=C:\code\bacnet-stack\reject.c
file_014=C:\code\bacnet-stack\ringbuf.c
file_015=C:\code\bacnet-stack\rp.c
file_016=C:\code\bacnet-stack\whois.c
file_017=C:\code\bacnet-stack\demo\handler\h_dcc.c
file_018=C:\code\bacnet-stack\demo\handler\h_rd.c
file_019=main.c
file_020=C:\code\bacnet-stack\demo\object\tiny_dev.c
file_021=dlmstp.c
file_022=C:\code\bacnet-stack\wp.h
file_023=C:\code\bacnet-stack\abort.h
file_024=C:\code\bacnet-stack\apdu.h
file_025=C:\code\bacnet-stack\bacapp.h
file_026=C:\code\bacnet-stack\bacdcode.h
file_027=C:\code\bacnet-stack\bacdef.h
file_028=C:\code\bacnet-stack\bacenum.h
file_029=C:\code\bacnet-stack\bacerror.h
file_030=C:\code\bacnet-stack\bacstr.h
file_031=C:\code\bacnet-stack\config.h
file_032=C:\code\bacnet-stack\crc.h
file_033=C:\code\bacnet-stack\datalink.h
file_034=C:\code\bacnet-stack\dcc.h
file_035=C:\code\bacnet-stack\dlmstp.h
file_036=C:\code\bacnet-stack\iam.h
file_037=C:\code\bacnet-stack\mstp.h
file_038=C:\code\bacnet-stack\npdu.h
file_039=C:\code\bacnet-stack\rd.h
file_040=C:\code\bacnet-stack\reject.h
file_041=C:\code\bacnet-stack\ringbuf.h
file_042=C:\code\bacnet-stack\rp.h
file_043=C:\code\bacnet-stack\rs485.h
file_044=C:\code\bacnet-stack\whois.h
file_045=C:\code\bacnet-stack\demo\handler\client.h
file_046=C:\code\bacnet-stack\demo\handler\handlers.h
file_047=C:\code\bacnet-stack\demo\object\ai.h
file_048=C:\code\bacnet-stack\demo\object\ao.h
file_049=C:\code\bacnet-stack\demo\object\device.h
file_050=stdbool.h
file_051=stdint.h
[SUITE_INFO]
suite_guid={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
suite_state=
[TOOL_SETTINGS]
TS{DD2213A8-6310-47B1-8376-9430CDFC013F}=
TS{BFD27FBA-4A02-4C0E-A5E5-B812F3E7707C}=/o"$(TARGETBASE).cof" /M"$(BINDIR_)$(TARGETBASE).map"
TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}=-DPRINT_ENABLED=0 -DBACDL_MSTP -DBIG_ENDIAN=1 -mL -Ls -Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa-
TS{ADE93A55-C7C7-4D4D-A4BA-59305F7D0391}=
bacnet-stack/ports/pic18/BACnet-Server.mcw
BIN
View File
Binary file not shown.
bacnet-stack/ports/pic18/bacnet.mcp
+44 -41
View File
@@ -6,7 +6,7 @@ dir_src=
dir_bin=
dir_tmp=
dir_sin=
dir_inc=c:\mcc18\h;c:\code\bacnet-stack;c:\code\bacnet-stack\ports\pic18
dir_inc=c:\mcc18\h;c:\code\bacnet-stack;c:\code\bacnet-stack\ports\pic18;c:\code\bacnet-stack\demo\object;c:\code\bacnet-stack\demo\handler
dir_lib=c:\mcc18\lib
dir_lkr=
[CAT_FILTERS]
@@ -70,6 +70,9 @@ file_050=no
file_051=no
file_052=no
file_053=no
file_054=no
file_055=no
file_056=no
[FILE_INFO]
file_000=rs485.c
file_001=main.c
@@ -85,53 +88,56 @@ file_010=C:\code\bacnet-stack\bacerror.c
file_011=C:\code\bacnet-stack\bigend.c
file_012=C:\code\bacnet-stack\crc.c
file_013=C:\code\bacnet-stack\datalink.c
file_014=C:\code\bacnet-stack\device.c
file_015=C:\code\bacnet-stack\dlmstp.c
file_016=C:\code\bacnet-stack\iam.c
file_017=C:\code\bacnet-stack\mstp.c
file_018=C:\code\bacnet-stack\npdu.c
file_019=C:\code\bacnet-stack\reject.c
file_020=C:\code\bacnet-stack\ringbuf.c
file_021=C:\code\bacnet-stack\address.c
file_022=C:\code\bacnet-stack\tsm.c
file_023=C:\code\bacnet-stack\ao.c
file_024=C:\code\bacnet-stack\ai.c
file_025=C:\code\bacnet-stack\handlers.c
file_026=C:\code\bacnet-stack\wp.c
file_014=C:\code\bacnet-stack\dlmstp.c
file_015=C:\code\bacnet-stack\iam.c
file_016=C:\code\bacnet-stack\mstp.c
file_017=C:\code\bacnet-stack\npdu.c
file_018=C:\code\bacnet-stack\reject.c
file_019=C:\code\bacnet-stack\ringbuf.c
file_020=C:\code\bacnet-stack\wp.c
file_021=C:\code\bacnet-stack\demo\object\ai.c
file_022=C:\code\bacnet-stack\demo\object\ao.c
file_023=C:\code\bacnet-stack\dcc.c
file_024=C:\code\bacnet-stack\bacstr.c
file_025=C:\code\bacnet-stack\bacapp.c
file_026=C:\code\bacnet-stack\demo\object\tiny_dev.c
file_027=stdbool.h
file_028=stdint.h
file_029=init.h
file_030=timer.h
file_031=C:\code\bacnet-stack\tsm.h
file_032=C:\code\bacnet-stack\whois.h
file_033=C:\code\bacnet-stack\abort.h
file_034=C:\code\bacnet-stack\address.h
file_035=C:\code\bacnet-stack\apdu.h
file_036=C:\code\bacnet-stack\bacdcode.h
file_037=C:\code\bacnet-stack\bacdef.h
file_038=C:\code\bacnet-stack\bacenum.h
file_039=C:\code\bacnet-stack\bacerror.h
file_040=C:\code\bacnet-stack\bigend.h
file_041=C:\code\bacnet-stack\bits.h
file_042=C:\code\bacnet-stack\bytes.h
file_043=C:\code\bacnet-stack\config.h
file_044=C:\code\bacnet-stack\crc.h
file_045=C:\code\bacnet-stack\datalink.h
file_046=C:\code\bacnet-stack\device.h
file_047=C:\code\bacnet-stack\dlmstp.h
file_048=C:\code\bacnet-stack\mstp.h
file_049=C:\code\bacnet-stack\npdu.h
file_050=C:\code\bacnet-stack\reject.h
file_051=C:\code\bacnet-stack\ringbuf.h
file_052=C:\code\bacnet-stack\rs485.h
file_053=18f252.lkr
file_031=C:\code\bacnet-stack\whois.h
file_032=C:\code\bacnet-stack\abort.h
file_033=C:\code\bacnet-stack\apdu.h
file_034=C:\code\bacnet-stack\bacdcode.h
file_035=C:\code\bacnet-stack\bacdef.h
file_036=C:\code\bacnet-stack\bacenum.h
file_037=C:\code\bacnet-stack\bacerror.h
file_038=C:\code\bacnet-stack\bigend.h
file_039=C:\code\bacnet-stack\bits.h
file_040=C:\code\bacnet-stack\bytes.h
file_041=C:\code\bacnet-stack\config.h
file_042=C:\code\bacnet-stack\crc.h
file_043=C:\code\bacnet-stack\datalink.h
file_044=C:\code\bacnet-stack\dlmstp.h
file_045=C:\code\bacnet-stack\mstp.h
file_046=C:\code\bacnet-stack\npdu.h
file_047=C:\code\bacnet-stack\reject.h
file_048=C:\code\bacnet-stack\ringbuf.h
file_049=C:\code\bacnet-stack\rs485.h
file_050=C:\code\bacnet-stack\demo\object\ai.h
file_051=C:\code\bacnet-stack\demo\object\ao.h
file_052=C:\code\bacnet-stack\demo\object\device.h
file_053=C:\code\bacnet-stack\dcc.h
file_054=C:\code\bacnet-stack\bacstr.h
file_055=C:\code\bacnet-stack\bacapp.h
file_056=18f252.lkr
[SUITE_INFO]
suite_guid={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
suite_state=
[TOOL_SETTINGS]
TS{DD2213A8-6310-47B1-8376-9430CDFC013F}=
TS{BFD27FBA-4A02-4C0E-A5E5-B812F3E7707C}=/m"$(BINDIR_)$(TARGETBASE).map" /o"$(TARGETBASE).cof"
TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}=-DBACDL_MSTP
TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}=-DBACDL_MSTP -DTSM_ENABLED=0 -DPRINT_ENABLED=0 -mL
TS{ADE93A55-C7C7-4D4D-A4BA-59305F7D0391}=
TS{DD2213A8-6310-47B1-8376-9430CDFC013F}001=
TS{BFD27FBA-4A02-4C0E-A5E5-B812F3E7707C}001=/o"$(TARGETBASE).cof"
@@ -139,6 +145,3 @@ TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}001=-Ou- -Ot- -Ob- -Op- -Or- -Od- -Opa-
TS{ADE93A55-C7C7-4D4D-A4BA-59305F7D0391}001=
[ACTIVE_FILE_SETTINGS]
TS{C2AF05E7-1416-4625-923D-E114DB6E2B96}001_active=yes
[TOOL_LOC_STAMPS]
tool_loc{96C98149-AA1B-4CF9-B967-FAE79CAB663C}=C:\mcc18\bin\mplink.exe
tool_loc{E56A1C86-9D32-4DF6-8C34-FE0388B1B644}=C:\mcc18\bin\mcc18.exe
bacnet-stack/ports/pic18/bacnet.mcw
BIN
View File
Binary file not shown.
bacnet-stack/ports/pic18/dlmstp.c
+194
View File
@@ -0,0 +1,194 @@
/**************************************************************************
*
* Copyright (C) 2006 Steve Karg <skarg@users.sourceforge.net>
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be included
* in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*********************************************************************/
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
#include <string.h>
#include "bacdef.h"
#include "mstp.h"
#include "dlmstp.h"
#include "ringbuf.h"
#include "rs485.h"
#define RB_PACKET_COUNT 2
#define RB_PACKET_SIZE sizeof(DLMSTP_PACKET)
static RING_BUFFER Receive_Buffer;
static char Receive_Data_Store[RB_PACKET_COUNT * RB_PACKET_SIZE];
static RING_BUFFER Transmit_Buffer;
static char Transmit_Data_Store[RB_PACKET_COUNT * RB_PACKET_SIZE];
volatile struct mstp_port_struct_t MSTP_Port; /* port data */
static uint8_t MSTP_MAC_Address = 0x05; /* local MAC address */
DLMSTP_PACKET Temp_Packet;
void dlmstp_init(void)
{
Ringbuf_Init(&Receive_Buffer,
&Receive_Data_Store[0],
RB_PACKET_SIZE,
RB_PACKET_COUNT);
Ringbuf_Init(&Transmit_Buffer,
&Transmit_Data_Store[0],
RB_PACKET_SIZE,
RB_PACKET_COUNT);
RS485_Initialize();
MSTP_Init(&MSTP_Port, MSTP_MAC_Address);
}
void dlmstp_cleanup(void)
{
/* nothing to do for static buffers */
}
/* returns number of bytes sent on success, negative on failure */
int dlmstp_send_pdu(BACNET_ADDRESS * dest, /* destination address */
uint8_t * pdu, /* any data to be sent - may be null */
unsigned pdu_len)
{ /* number of bytes of data */
bool status;
int bytes_sent = 0;
memmove(&Temp_Packet.address,dest,sizeof(Temp_Packet.address));
Temp_Packet.pdu_len = pdu_len;
memmove(Temp_Packet.pdu,pdu,sizeof(Temp_Packet.pdu));
status = Ringbuf_Put(&Transmit_Buffer, &Temp_Packet);
if (status)
bytes_sent = pdu_len;
return bytes_sent;
}
/* function for MS/TP to use to get a packet to transmit
returns the number of bytes in the packet, or 0 if none. */
int dlmstp_get_transmit_pdu(BACNET_ADDRESS * dest, /* destination address */
uint8_t * pdu) /* any data to be sent - may be null */
{
bool status;
DLMSTP_PACKET *packet;
unsigned pdu_len = 0;
if (!Ringbuf_Empty(&Transmit_Buffer))
{
packet = Ringbuf_Pop_Front(&Transmit_Buffer);
memmove(dest,&packet->address,sizeof(packet->address));
pdu_len = packet->pdu_len;
memmove(pdu,packet->pdu,sizeof(packet.pdu));
}
return pdu_len;
}
void dlmstp_task(void)
{
RS485_Check_UART_Data(&MSTP_Port);
MSTP_Receive_Frame_FSM(&MSTP_Port);
RS485_Process_Tx_Message();
MSTP_Master_Node_FSM(&MSTP_Port);
}
/* called about once a millisecond */
void dlmstp_millisecond_timer(void)
{
MSTP_Millisecond_Timer(&MSTP_Port);
}
/* returns the number of octets in the PDU, or zero on failure */
/* This function is expecting to be polled. */
uint16_t dlmstp_receive(BACNET_ADDRESS * src, /* source address */
uint8_t * pdu, /* PDU data */
uint16_t max_pdu, /* amount of space available in the PDU */
unsigned timeout)
{
DLMSTP_PACKET *packet;
(void) timeout;
/* see if there is a packet available */
if (!Ringbuf_Empty(&Receive_Buffer))
{
packet = (char *)Ringbuf_Pop_Front(&Receive_Buffer);
memmove(src,&packet->address,sizeof(packet->address));
pdu_len = packet->pdu_len;
memmove(pdu,packet->pdu,max_pdu);
}
return pdu_len;
}
/* for the MS/TP state machine to use for putting received data */
uint16_t dlmstp_put_receive(BACNET_ADDRESS * src, /* source address */
uint8_t * pdu, /* PDU data */
uint16_t pdu_len)
{
bool status;
int bytes_put = 0;
memmove(&Temp_Packet.address,src,sizeof(Temp_Packet.address));
Temp_Packet.pdu_len = pdu_len;
memmove(Temp_Packet.pdu,pdu,sizeof(Temp_Packet.pdu));
status = Ringbuf_Put(&Receive_Buffer, &Temp_Packet);
if (status)
bytes_put = pdu_len;
return bytes_put;
}
void dlmstp_set_my_address(uint8_t mac_address)
{
/* FIXME: Master Nodes can only have address 1-127 */
MSTP_MAC_Address = mac_address;
return;
}
void dlmstp_get_my_address(BACNET_ADDRESS * my_address)
{
my_address->mac_len = 1;
my_address->mac[0] = MSTP_MAC_Address;
my_address->net = 0; /* local only, no routing */
my_address->len = 0;
for (i = 0; i < MAX_MAC_LEN; i++) {
my_address->adr[i] = 0;
}
return;
}
void dlmstp_get_broadcast_address(BACNET_ADDRESS * dest)
{ /* destination address */
int i = 0; /* counter */
if (dest) {
dest->mac_len = 1;
dest->mac[0] = MSTP_BROADCAST_ADDRESS;
dest->net = BACNET_BROADCAST_NETWORK;
dest->len = 0; /* len=0 denotes broadcast address */
for (i = 0; i < MAX_MAC_LEN; i++) {
dest->adr[i] = 0;
}
}
return;
}
bacnet-stack/ports/pic18/main.c
+127 -13
View File
@@ -32,10 +32,102 @@
#include "ringbuf.h"
#include "init.h"
#include "timer.h"
#include "datalink.h"
#include "handlers.h"
#include "device.h"
#include "hardware.h"
#include "iam.h"
/* for readproperty handler */
#include "config.h"
#include "txbuf.h"
#include "bacdef.h"
#include "bacdcode.h"
#include "bacerror.h"
#include "apdu.h"
#include "npdu.h"
#include "abort.h"
#include "rp.h"
/* buffer used for encoding RP apdu */
static uint8_t Temp_Buf[MAX_APDU];
/* buffer used for receiving */
static uint8_t Rx_Buf[MAX_MPDU] = { 0 };
/* address where message came from */
static BACNET_ADDRESS src;
/* address used to send */
static BACNET_ADDRESS my_address;
/* see demo/handler/h_rp.c for a more complete example */
void My_Read_Property_Handler(uint8_t * service_request,
uint16_t service_len,
BACNET_ADDRESS * src, BACNET_CONFIRMED_SERVICE_DATA * service_data)
{
BACNET_READ_PROPERTY_DATA data;
int len = 0;
int pdu_len = 0;
bool send = false;
bool error = false;
int bytes_sent = 0;
BACNET_ERROR_CLASS error_class = ERROR_CLASS_OBJECT;
BACNET_ERROR_CODE error_code = ERROR_CODE_UNKNOWN_OBJECT;
len = rp_decode_service_request(service_request, service_len, &data);
/* prepare a reply */
datalink_get_my_address(&my_address);
/* encode the NPDU portion of the packet */
pdu_len = npdu_encode_apdu(&Handler_Transmit_Buffer[0], src, &my_address, false, /* true for confirmed messages */
MESSAGE_PRIORITY_NORMAL);
/* bad decoding - send an abort */
if (len == -1) {
pdu_len += abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id, ABORT_REASON_OTHER);
send = true;
} else if (service_data->segmented_message) {
pdu_len += abort_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
ABORT_REASON_SEGMENTATION_NOT_SUPPORTED);
send = true;
} else {
switch (data.object_type) {
case OBJECT_DEVICE:
/* FIXME: probably need a length limitation sent with encode */
if (data.object_instance == Device_Object_Instance_Number()) {
len = Device_Encode_Property_APDU(&Temp_Buf[0],
data.object_property,
data.array_index, &error_class, &error_code);
if (len >= 0) {
/* encode the APDU portion of the packet */
data.application_data = &Temp_Buf[0];
data.application_data_len = len;
/* FIXME: probably need a length limitation sent with encode */
pdu_len +=
rp_ack_encode_apdu(&Handler_Transmit_Buffer
[pdu_len], service_data->invoke_id, &data);
send = true;
} else
error = true;
} else
error = true;
break;
default:
error = true;
break;
}
}
if (error) {
pdu_len += bacerror_encode_apdu(&Handler_Transmit_Buffer[pdu_len],
service_data->invoke_id,
SERVICE_CONFIRMED_READ_PROPERTY, error_class, error_code);
send = true;
}
if (send) {
bytes_sent = datalink_send_pdu(src, /* destination address */
&Handler_Transmit_Buffer[0], pdu_len); /* number of bytes of data */
}
return;
}
volatile struct mstp_port_struct_t MSTP_Port; /* port data */
static uint8_t MSTP_MAC_Address = 0x05; /* local MAC address */
/****************************************************************************
* DESCRIPTION: Handles our calling our module level milisecond counters
@@ -48,34 +140,56 @@ static void Check_Timer_Milliseconds(void)
{
/* We might have missed some so keep doing it until we have got them all */
while (Milliseconds) {
MSTP_Millisecond_Timer(&MSTP_Port);
dlmstp_millisecond_timer();
Milliseconds--;
}
}
void main(void)
{
init_hardware();
RS485_Initialize();
MSTP_Init(&MSTP_Port, MSTP_MAC_Address);
unsigned timeout = 100; /* milliseconds */
uint16_t pdu_len = 0;
/* we need to handle who-is
to support dynamic device binding to us */
apdu_set_unconfirmed_handler(SERVICE_UNCONFIRMED_WHO_IS,
handler_who_is);
/* set the handler for all the services we don't implement
It is required to send the proper reject message... */
apdu_set_unrecognized_service_handler_handler
(handler_unrecognized_service);
/* we must implement read property - it's required! */
apdu_set_confirmed_handler(SERVICE_CONFIRMED_READ_PROPERTY,
handler_read_property);
/* handle communication so we can shutup when asked */
apdu_set_confirmed_handler
(SERVICE_CONFIRMED_DEVICE_COMMUNICATION_CONTROL,
handler_device_communication_control);
Device_Set_Object_Instance_Number(5);
dlmstp_set_my_address(0x05);
dlmstp_init();
init_hardware();
/* broadcast an I-Am on startup */
iam_send(&Handler_Transmit_Buffer[0]);
/* loop forever */
for (;;) {
WATCHDOG_TIMER();
/* input */
Check_Timer_Milliseconds();
/* note: also called by RS-485 Receive ISR */
RS485_Check_UART_Data(&MSTP_Port);
MSTP_Receive_Frame_FSM(&MSTP_Port);
dlmstp_task();
pdu_len = datalink_receive(&src, &Rx_Buf[0], MAX_MPDU, timeout);
/* process */
if (pdu_len) {
npdu_handler(&src, &Rx_Buf[0], pdu_len);
}
/* output */
RS485_Process_Tx_Message();
MSTP_Master_Node_FSM(&MSTP_Port);
}