source: trunk/fw_g473rct/SES/src/modbus.c@ 37

Last change on this file since 37 was 27, checked in by f.jahn, 3 months ago

Fixing project before CubeMX regeneration.
File size: 20.1 KB
Line 
1/*
2 * modbus.c
3 *
4 * Created: 03.09.2012 08:39:20
5 * Author: Falko
6 */
7
8
9
10#if MODBUS_SUPPORT == TRUE
11
12 #include "modbus.h"
13 //#include "stm32g4xx_hal.h"
14 #include "main.h"
15 //#include "stm32g0xx_hal_tim.h"
16 //#include "stm32_hal_legacy.h"
17 #include <stdio.h>
18 // ---------------------------------------------------------
19 // -------------------- MODUL DEFINES ----------------------
20 // ---------------------------------------------------------
21
22
23
24
25 #define MODBUS_BROADCAST_ADDRESS 0x00
26 #define FC_READ_COILS 0x01
27 #define FC_READ_HOLDING_REGISTERS 0x03
28 #define FC_WRITE_SINGLE_REGISTER 0x06
29 #define FC_WRITE_MULTIPLE_REGISTER 0x10
30
31 /* Protocol exceptions */
32 #define ILLEGAL_FUNCTION 0x01
33 #define ILLEGAL_DATA_ADDRESS 0x02
34 #define ILLEGAL_DATA_VALUE 0x03
35 #define SLAVE_DEVICE_FAILURE 0x04
36 #define SERVER_FAILURE 0x04
37 #define ACKNOWLEDGE 0x05
38 #define SLAVE_DEVICE_BUSY 0x06
39 #define SERVER_BUSY 0x06
40 #define NEGATIVE_ACKNOWLEDGE 0x07
41 #define MEMORY_PARITY_ERROR 0x08
42 #define GATEWAY_PROBLEM_PATH 0x0A
43 #define GATEWAY_PROBLEM_TARGET 0x0B
44
45 /* Local Error codes */
46 #define INVALID_CRC -1
47
48 // Position der Daten im Rx String
49 #define OFFSET_SLAVE_ADRESS 0x00
50 #define OFFSET_FUNCTION_CODE 0x01
51 #define OFFSET_START_ADRESS_HI 0x02
52 #define OFFSET_START_ADRESS_LO 0x03
53 #define OFFSET_NO_OF_REGISTERS_HI 0x04
54 #define OFFSET_NO_OF_REGISTERS_LO 0x05
55
56 #define MIN_NUMBER_OF_REGISTERS_FC3 0x01
57 #define MAX_NUMBER_OF_REGISTERS_FC3 0x7D
58 #define MIN_NUMBER_OF_REGISTERS_FC16 0x01
59 #define MAX_NUMBER_OF_REGISTERS_FC16 0x7B
60
61 #ifdef DEBUG
62 #define RESPONSE_TIMEOUT 300 // * 1ms
63 #else
64 #define RESPONSE_TIMEOUT 1000 // * 1ms
65 #endif
66
67 #define FAST_BAUDRATE_INTERFRAME_DELAY_us (1750UL)
68 // --- Externe Variablen --------------------------------------------
69 extern modbus_t modbusData;
70 extern sys_data_t sys_data;
71
72
73 // --- Private Funktions Prototypen --------------------------------------------
74
75 void mbUartInit (modbus_t * mb_data,UART_HandleTypeDef * usart, uint32_t baudrate, uint32_t parityMode, uint32_t stopBits , uint32_t nrOfBitsPerChar);
76 uint16_t mbCrc16 (uint8_t *buf, uint32_t len);
77 void mbSend (modbus_t * mb_data );
78 uint32_t mbSlaveReadHoldingRegisters (uint8_t * response_string, uint8_t *msg, uint32_t tx_position, uint8_t deviceID);
79 uint32_t mbSlaveWriteMultipleRegisters (uint8_t * response_string, uint8_t *msg, uint32_t tx_position, uint32_t deviceID);
80 uint32_t mbSlaveWriteSingleRegister (uint8_t * response_string,uint8_t *msg,uint32_t tx_position, uint32_t deviceID);
81 uint32_t mbSlaveResponseException (uint8_t* response_string, uint32_t function_code, uint32_t exception_code,uint32_t tx_position) ;
82static HAL_StatusTypeDef RS485_ModbusEx_Init (UART_HandleTypeDef *huart, uint32_t Polarity, uint32_t AssertionTime, uint32_t DeassertionTime, uint32_t charReceiveTimeout);
83static void UART_TxISR_8BIT (UART_HandleTypeDef *huart);
84
85 // --- GEMEINSAME MODBUS FUNKTIONEN --------------------------------------------
86 // Diese Funktionen werden sowohl von Modbus Master als auch Modbus Slave verwendet
87
88 /*
89 *
90 * @brief Diese Funktion Initialisert die Modbus Datenstrukturen und die Hardware
91 *
92 * Das Modbus Modul bentigt einen UART und einen Timer pro Modbus Anschluss
93 * Die Funktion erfordert eine vorhandene Callback funktion namens HAL_UART_MspInit
94 * In dieser muss:
95 * - Der UART CLK eingeschaltet werden
96 * - Die Pins initialisert werden (Alternate Port Funktion)
97 * - Der NVIC Interrupt eingeschaltet werden
98 * @param mb_data : Datenstruktur zur Aufnahme aller Daten
99 * @param baudrate : Bautrate
100 * @param parityMode : Parity, mglich ist UART_PARITY_ODD, UART_PARITY_EVEN, UART_PARITY_NONE. Default ist lt. Modbus Standart EVEN
101 * @param usart : Timer Modul, z.B. USART1
102 * @retval None
103 */
104 void mbInit(modbus_t* mb_data, uint32_t baudrate, uint32_t parityMode, uint16_t stopBits, UART_HandleTypeDef* usart)
105 {
106 uint32_t numberOfBitsPerChar;
107 //uint32_t stopBits;
108
109 if (stopBits < 1U || stopBits > 2U) stopBits = 1U;
110
111
112 // Berechne Anzahl der Bits per Char
113 numberOfBitsPerChar = NUMBER_OF_STARTBITS + NUMBER_OF_DATABITS + stopBits;
114 if ((parityMode == MODBUS_UART_PARITY_EVEN) || (parityMode == MODBUS_UART_PARITY_ODD))
115 {
116 numberOfBitsPerChar +=1;
117 }
118
119 mbUartInit(mb_data,usart, baudrate, parityMode, stopBits, numberOfBitsPerChar);
120
121 // Datenstrukturen zurcksetzen
122 mb_data->last_query_function_code = 0;
123 mb_data->last_query_tcp_id.w = 0;
124 mb_data->last_query_number_of_register.w = 0;
125 mb_data->current_query = MB_QUERY_NOTHING;
126 mb_data->last_query_slave_adress = 0;
127 mb_data->last_query_start_adress.w = 0;
128 mb_data->last_query_timeout = false;
129 }
130
131 /*
132 *
133 * @brief Diese Funktion Initialisert die Modbus UART Hardware
134 *
135 * @param mb_data : Datenstruktur zur Aufnahme aller Daten
136 * @param usart : UART Modul, z.B. USART1
137 * @param baudrate : UART BAUD
138 * @param parityMmode : Parity, mglich ist:
139 UART_PARITY_ODD, UART_PARITY_EVEN, UART_PARITY_NONE.
140 Default ist lt. Modbus Standart EVEN
141 * @param stopBits : Anzahl der Stop Bits, lt Modbus Standart
142 * 2 Stop Bits bei Parity None, ansonsten 2 Stop Bits
143 * @retval None
144 */
145 void mbUartInit(modbus_t * mb_data,UART_HandleTypeDef * usart, uint32_t baudrate, uint32_t parityMode, uint32_t stopBits , uint32_t nrOfBitsPerChar)
146 {
147 //--- Uart Init ------------------------------------------------------------
148 mb_data->uart = usart;
149
150 // Baudrate
151 mb_data->uart->Init.BaudRate = baudrate;
152
153 // Parity Mode // Word length
154 if(parityMode == MODBUS_UART_PARITY_EVEN)
155 {
156 mb_data->uart->Init.Parity = UART_PARITY_EVEN;
157 mb_data->uart->Init.WordLength = UART_WORDLENGTH_9B;
158 }
159 else if(parityMode == MODBUS_UART_PARITY_ODD)
160 {
161 mb_data->uart->Init.Parity = UART_PARITY_ODD;
162 mb_data->uart->Init.WordLength = UART_WORDLENGTH_9B;
163 }
164 else
165 {
166 mb_data->uart->Init.Parity = UART_PARITY_NONE;
167 mb_data->uart->Init.WordLength = UART_WORDLENGTH_8B;
168 }
169
170 // Stopbits
171 if (stopBits == 1)
172 {
173 mb_data->uart->Init.StopBits = UART_STOPBITS_1;
174 }
175 else
176 {
177 mb_data->uart->Init.StopBits = UART_STOPBITS_2;
178 }
179
180 if (HAL_UART_Init(mb_data->uart) != HAL_OK)
181 {
182 printf("ERROR Uart INIT\r\n");
183 Error_Handler();
184 }
185
186
187 HAL_UART_EnableReceiverTimeout( usart);
188 if (baudrate <= 19200)
189 {
190 HAL_UART_ReceiverTimeout_Config(usart, 3.5 * nrOfBitsPerChar);
191 }
192 else
193 {
194 uint32_t fixedDelayInBitDurations = (FAST_BAUDRATE_INTERFRAME_DELAY_us * baudrate) / 1000000UL + 1UL;
195 HAL_UART_ReceiverTimeout_Config(usart, fixedDelayInBitDurations);
196 }
197
198
199 SET_BIT(usart->Instance->CR1, USART_CR1_RTOIE);
200
201
202 if(HAL_UART_Receive_DMA(mb_data->uart, mb_data->rx_buffer, RXBUFFERSIZE) != HAL_OK)
203 {
204 printf("uart error \n\r");
205 while(1)
206 {
207 }
208 }
209 }
210
211
212
213void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
214{
215 modbusData.mb_rx_frame_complete = 1;
216 modbusData.setRxLed = false;
217 modbusData.rx_head = huart->RxXferSize - __HAL_DMA_GET_COUNTER(huart->hdmarx);
218
219
220 if (huart->ErrorCode == HAL_UART_ERROR_RTO)
221 {
222
223 // printf("MB RTO Event! \n\r");
224 // Kein Fehler, normale Funktion
225 }
226 if (huart->ErrorCode == HAL_UART_ERROR_FE)
227 {
228 printf("MB FE Error! \n\r");
229 }
230
231 if (huart->ErrorCode == HAL_UART_ERROR_PE)
232 {
233 printf("MB PE Error! \n\r");
234 }
235
236 if (huart->ErrorCode == HAL_UART_ERROR_NE)
237 {
238 printf("MB NE Error! \n\r");
239 }
240
241 if (huart->ErrorCode == HAL_UART_ERROR_DMA)
242 {
243 printf("MB DMA Error! \n\r");
244 }
245
246 if (huart->ErrorCode == HAL_UART_ERROR_DMA)
247 {
248 printf("MB DMA Error! \n\r");
249 }
250
251 if (huart->ErrorCode == HAL_UART_ERROR_ORE)
252 {
253 printf("MB ORE Error! \n\r");
254 }
255
256
257
258 if(HAL_UART_Receive_DMA(huart, huart->pRxBuffPtr, RXBUFFERSIZE) != HAL_OK)
259 {
260 printf("Uart Error bei neustart nach Fehler \n\r");
261 // while(1)
262 // {
263 // }
264 }
265
266}
267
268//void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
269//{
270// //printf("MB rxEvent!RX=%d \n\r",Size);
271// modbusData.setRxLed = true;
272
273// modbusData.mb_rx_frame_complete = 1;
274// modbusData.rx_head= Size +1;
275
276// if(HAL_UART_Receive_DMA(huart, huart->pRxBuffPtr, RXBUFFERSIZE) != HAL_OK)
277// {
278// printf("uart error \n\r");
279// // while(1)
280// // {
281// // }
282// }
283
284
285//}
286
287void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
288{
289 //printf("uart complete \n\r");
290 modbusData.current_query = MB_QUERY_NOTHING;
291
292}
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314 void mbSend(modbus_t * mb_data )
315 {
316 mb_data->current_query = MB_QUERY_SEND_DATA;
317 HAL_UART_Transmit_DMA(mb_data->uart, mb_data->tx_buffer, mb_data->tx_head);
318 }
319
320 void mbClearTxBuffer(modbus_t * mb_data)
321 {
322 mb_data->tx_head = 0;
323 }
324
325
326
327 // Compute the MODBUS RTU CRC
328 uint16_t mbCrc16 ( uint8_t *buf, uint32_t len)
329 {
330 uint16_t crc = 0xFFFF;
331
332 for (uint32_t pos = 0; pos < len; pos++)
333 {
334 crc ^= (uint16_t)buf[pos]; // XOR byte into least sig. byte of crc
335
336 for (int i = 8; i != 0; i--)
337 { // Loop over each bit
338 if ((crc & 0x0001) != 0)
339 { // If the LSB is set
340 crc >>= 1; // Shift right and XOR 0xA001
341 crc ^= 0xA001;
342 }
343 else // Else LSB is not set
344 {
345 crc >>= 1; // Just shift right
346 }
347 }
348 }
349
350 // Note, this number has low and high bytes swapped, so use it accordingly (or swap bytes)
351 return crc;
352 }
353
354 /* If CRC is correct returns msg_length else returns INVALID_CRC */
355 int mbCheckCrc16( uint8_t *msg, const int msg_length)
356 {
357 int ret;
358 uint16_t crc_calc;
359 uint16_t crc_received;
360
361 crc_calc = mbCrc16(msg, msg_length - 2);
362 crc_received = (msg[msg_length - 1] << 8) | msg[msg_length - 2];
363
364 // Check CRC of msg
365 if (crc_calc == crc_received) {
366 ret = msg_length;
367 } else {
368 ret = INVALID_CRC;
369 }
370 return ret;
371 }
372
373 uint32_t mbAppendCrc16(uint8_t * buffer, uint32_t tx_position)
374 {
375 uint16_t crc = mbCrc16( buffer , tx_position);
376
377 uint8_t l_crc = (uint8_t) (crc & 0x00FF) ;
378 uint8_t h_crc = (uint8_t) (crc >> 8);
379 buffer[tx_position] = l_crc;
380 tx_position++;
381 buffer[tx_position] = h_crc;
382 tx_position++;
383 return tx_position;
384 }
385
386 /************************************************************************************************************
387 Function: mb_get_frame_complete
388 Purpose: Rckabe ob Frame komplett empfangen wurde
389 *************************************************************************************************************/
390 bool mbGetFrameComplete(modbus_t * mb_data)
391 {
392 return mb_data->mb_rx_frame_complete;
393 }
394
395 void mbClearRxFrame(modbus_t * mb_data)
396 {
397 // Wieder bei 0 im buffer anfangen
398 mb_data->rx_head = 0;
399
400 // keine Daten mehr vorhanden
401 mb_data->mb_rx_frame_complete=false;
402 }
403
404
405 // --------------------- SLAVE FUNCTIONS ---------------------------------------
406
407#define SEND_TO_SLAVES_BUFFER_COUNT 1000
408//static TASK_MODBUS_MASTER_Message_t xMessage[255];
409//static TASK_MODBUS_MASTER_Message_t *pxMessage;
410static bword_t values[SEND_TO_SLAVES_BUFFER_COUNT];
411static uint32_t y;
412static uint32_t z;
413
414 uint32_t mbSlaveCheckModbusRtuQuery(modbus_t * mb_data)
415 {
416 uint32_t message_lengh;
417 uint8_t *modbus_rx_message;
418 modbus_rx_message = mb_data->rx_buffer;
419 message_lengh= mb_data->rx_head;
420 uint32_t slave_adress;
421 slave_adress = modbus_rx_message[0];
422
423 if (message_lengh < 5) //Mindestens 5 Zeichen (Slave Adress + Function Code + 2x CRC
424 {
425 mbClearRxFrame(mb_data);
426 return 0;
427 }
428
429 // Prfe CRC
430 if (mbCheckCrc16(modbus_rx_message,message_lengh) == INVALID_CRC)
431 {
432 mbClearRxFrame(mb_data);
433 return 0;
434 }
435
436 if (slave_adress == MODBUS_BROADCAST_ADDRESS)
437 {
438
439 return RESPOND_TO_QUERY;
440 }
441 /* auf richtige Slave Adresse checken ansonsten nicht antworten*/
442 else if (slave_adress == sys_data.s.parameter.slave_address)
443 {
444 return RESPOND_TO_QUERY;
445 }
446
447 mbClearRxFrame(mb_data);
448 return 0;
449 }
450
451 void mbSlaveProcessRtuQuery(modbus_t * mb_data)
452 {
453 uint32_t tx_position=0; //die _Nchste_ Position in der Zeichen eingefgt werden mssen
454 uint8_t *modbus_rx_message;
455 modbus_rx_message = &mb_data->rx_buffer[0];
456
457 //Vorbereiten auf neues senden
458 mbClearTxBuffer(mb_data);
459
460 //mb_data->tx_buffer[0] = sys_data.s.vmGreenview.s.lb_slave_adress;
461 mb_data->tx_buffer[0] = *modbus_rx_message;
462 tx_position++;
463 tx_position = mbSlaveProcessPdu(mb_data->tx_buffer , modbus_rx_message,tx_position, *modbus_rx_message);
464
465 tx_position = mbAppendCrc16(mb_data->tx_buffer ,tx_position);
466 mb_data->tx_head=tx_position;
467 mbSend(mb_data);
468 mbClearRxFrame(mb_data);
469 }
470
471 uint32_t mbSlaveProcessPdu (uint8_t* response_string, uint8_t * msg, uint32_t tx_position, uint8_t deviceID)
472 {
473 uint32_t function_code;
474 uint32_t ret;
475
476 function_code = msg[OFFSET_FUNCTION_CODE];
477
478 switch (function_code)
479 {
480 case FC_READ_HOLDING_REGISTERS:
481 ret= mbSlaveReadHoldingRegisters(response_string, msg,tx_position, deviceID);
482 break;
483
484 case FC_WRITE_SINGLE_REGISTER:
485 ret = mbSlaveWriteSingleRegister(response_string, msg,tx_position, deviceID);
486 break;
487
488 case FC_WRITE_MULTIPLE_REGISTER:
489 ret=mbSlaveWriteMultipleRegisters(response_string, msg,tx_position, deviceID);
490 break;
491
492 default:
493 ret=mbSlaveResponseException(response_string,function_code,ILLEGAL_FUNCTION,tx_position);
494 break;
495 }
496
497 return ret;
498 }
499
500
501 uint32_t mbSlaveReadHoldingRegisters( uint8_t * response_string, uint8_t *msg, uint32_t tx_position, uint8_t deviceID)
502 {
503 uint32_t start_adress;
504 uint32_t adress;
505 uint32_t number_of_registers;
506
507 /*stimmt die device ID mit der eigenen berein*/
508 if((deviceID != sys_data.s.parameter.slave_address) && (deviceID != 0))
509 {
510 return mbSlaveResponseException(response_string,FC_WRITE_SINGLE_REGISTER,GATEWAY_PROBLEM_TARGET,tx_position);
511 }
512
513 start_adress = (msg[OFFSET_START_ADRESS_HI] << 8) + msg[OFFSET_START_ADRESS_LO];
514 number_of_registers = ( msg[OFFSET_NO_OF_REGISTERS_HI] << 8) + msg[OFFSET_NO_OF_REGISTERS_LO];
515
516 if ((number_of_registers < MIN_NUMBER_OF_REGISTERS_FC3) || (number_of_registers > MAX_NUMBER_OF_REGISTERS_FC3) )
517 {
518 return mbSlaveResponseException(response_string,FC_READ_HOLDING_REGISTERS,ILLEGAL_DATA_VALUE,tx_position);
519 }
520
521 if (start_adress+number_of_registers-1 > MAX_ADRESS)
522 {
523 return mbSlaveResponseException(response_string, FC_READ_HOLDING_REGISTERS,ILLEGAL_DATA_ADDRESS,tx_position);
524 }
525
526 response_string[tx_position] = FC_READ_HOLDING_REGISTERS; // FUNCTION CODE
527 tx_position++;
528 response_string[tx_position] = number_of_registers * 2; // Bytes
529 tx_position++;
530
531 for(adress=start_adress;adress < (start_adress + number_of_registers);adress++)
532 {
533 /*Daten aus dem Speicher senden*/
534 response_string[tx_position] = sys_data.mb[adress].b[1];
535 tx_position++;
536 response_string[tx_position] = sys_data.mb[adress].b[0];
537 tx_position++;
538 }
539
540 return tx_position;
541 }
542
543
544 uint32_t mbSlaveWriteMultipleRegisters(uint8_t * response_string, uint8_t *msg, uint32_t tx_position, uint32_t deviceID)
545 {
546
547 uint32_t start_adress;
548 uint32_t number_of_registers;
549 uint32_t adress;
550 uint32_t offset;
551
552 /*stimmt die device ID mit der eigenen berein*/
553 if((deviceID != sys_data.s.parameter.slave_address) && (deviceID != 0))
554 {
555 return mbSlaveResponseException(response_string,FC_WRITE_SINGLE_REGISTER,GATEWAY_PROBLEM_TARGET,tx_position);
556 }
557
558 start_adress = (msg[OFFSET_START_ADRESS_HI] << 8) + msg[OFFSET_START_ADRESS_LO];
559 number_of_registers = ( msg[OFFSET_NO_OF_REGISTERS_HI] << 8) + msg[OFFSET_NO_OF_REGISTERS_LO];
560 offset=7;
561
562 if ((number_of_registers < MIN_NUMBER_OF_REGISTERS_FC16) || (number_of_registers > MAX_NUMBER_OF_REGISTERS_FC16) )
563 {
564 return mbSlaveResponseException(response_string, FC_WRITE_MULTIPLE_REGISTER,ILLEGAL_DATA_VALUE,tx_position);
565 }
566
567 if (start_adress+number_of_registers-1 > MAX_ADRESS)
568 {
569 return mbSlaveResponseException(response_string, FC_WRITE_MULTIPLE_REGISTER,ILLEGAL_DATA_ADDRESS,tx_position);
570 }
571
572 /*Daten in Gertespeicher schreiben*/
573 for(adress=start_adress;adress < (start_adress + number_of_registers);adress++)
574 {
575 sys_data.mb[adress].b[1] = msg[offset];
576 sys_data.mb[adress].b[0] = msg[offset+1];
577 offset+=2;
578 }
579
580 response_string[tx_position] = FC_WRITE_MULTIPLE_REGISTER; // FUNCTION CODE - 1 byte
581 tx_position++;
582 response_string[tx_position] = start_adress >> 8;
583 tx_position++;
584 response_string[tx_position] = (uint8_t ) ( start_adress & 0x00FF); // start adresse 2 byte
585 tx_position++;
586 response_string[tx_position] = number_of_registers >> 8;
587 tx_position++;
588 response_string[tx_position] = (uint8_t ) ( number_of_registers & 0x00FF); // Anzahl Register 2 byte
589 tx_position++;
590 return tx_position;
591 }
592
593
594 uint32_t mbSlaveWriteSingleRegister(uint8_t * response_string,uint8_t *msg,uint32_t tx_position, uint32_t deviceID)
595 {
596
597 uint32_t adress;
598
599 /*stimmt die device ID mit der eigenen berein*/
600 if((deviceID != sys_data.s.parameter.slave_address) && (deviceID != 0))
601 {
602 return mbSlaveResponseException(response_string,FC_WRITE_SINGLE_REGISTER,GATEWAY_PROBLEM_TARGET,tx_position);
603 }
604
605 adress = (msg[2] << 8) + msg[3];
606
607 if (adress > MAX_ADRESS)
608 {
609 return mbSlaveResponseException(response_string,FC_WRITE_SINGLE_REGISTER,ILLEGAL_DATA_ADDRESS,tx_position);
610 }
611
612 /*schreibe Daten in eigenen Speicher*/
613 sys_data.mb[adress].b[1] = msg[4];
614 sys_data.mb[adress].b[0] = msg[5];
615
616 response_string[tx_position]= FC_WRITE_SINGLE_REGISTER; // FUNCTION CODE
617 tx_position++;
618 response_string[tx_position]= adress >> 8;
619 tx_position++;
620 response_string[tx_position]= (uint8_t ) ( adress & 0x00FF);
621
622 tx_position++;
623 response_string[tx_position]= msg[4];
624 tx_position++;
625 response_string[tx_position]= msg[5];
626 tx_position++;
627
628 return tx_position;
629 }
630
631
632 uint32_t mbSlaveResponseException(uint8_t* response_string, uint32_t function_code, uint32_t exception_code,uint32_t tx_position )
633 {
634 function_code += 0x80;
635 response_string[tx_position] = function_code; // FUNCTION CODE
636 tx_position++;
637 response_string[tx_position] = exception_code; //
638 tx_position++;
639 return tx_position;
640 }
641
642
643 //---------------------------- UNKNOWN -----------------------------------------
644 //- -
645 //------------------------------------------------------------------------------
646
647#endif
648
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