diff options
Diffstat (limited to 'meta-facebook/meta-wedge/recipes-wedge/rackmon/rackmon/modbus.c')
-rw-r--r-- | meta-facebook/meta-wedge/recipes-wedge/rackmon/rackmon/modbus.c | 352 |
1 files changed, 0 insertions, 352 deletions
diff --git a/meta-facebook/meta-wedge/recipes-wedge/rackmon/rackmon/modbus.c b/meta-facebook/meta-wedge/recipes-wedge/rackmon/rackmon/modbus.c deleted file mode 100644 index 8fb0835..0000000 --- a/meta-facebook/meta-wedge/recipes-wedge/rackmon/rackmon/modbus.c +++ /dev/null @@ -1,352 +0,0 @@ -/* - * Copyright 2014-present Facebook. All Rights Reserved. - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - */ - -#include <time.h> -#include "modbus.h" -#include <termios.h> -#include <unistd.h> -#include <fcntl.h> -#include <stdlib.h> -#include <stdint.h> -#include <stdio.h> -#include <string.h> -#include <errno.h> -#include <sys/ioctl.h> -#include <sched.h> -#include <pthread.h> - -int verbose = 0; - -#define TIOCSERWAITTEMT 0x5499 -int waitfd(int fd) { - int loops = 0; - ioctl(fd, TIOCSERWAITTEMT, DEFAULT_GPIO); - while(1) { - int lsr; - int ret = ioctl(fd, TIOCSERGETLSR, &lsr); - if(ret == -1) { - fprintf(stderr, "Error checking ioctl: %s\n", strerror(errno)); - break; - } - if(lsr & TIOCSER_TEMT) break; - // never should hit this with new ioctl - loops++; - } - return loops; -} - -void gpio_on(int fd) { - lseek(fd, 0, SEEK_SET); - write(fd, "1", 1); -} - -void gpio_off(int fd) { - lseek(fd, 0, SEEK_SET); - write(fd, "0", 1); -} - -void decode_hex_in_place(char* buf, size_t* len) { - for(int i = 0; i < *len; i+=2) { - sscanf(buf + i, "%2hhx", buf + (i / 2)); - } - *len = *len / 2; -} - -void append_modbus_crc16(char* buf, size_t* len) { - uint16_t crc = modbus_crc16(buf, *len); - dbg("[*] Append Modbus CRC16 %04x\n", crc); - buf[(*len)++] = crc >> 8; - buf[(*len)++] = crc & 0x00FF; -} - -void print_hex(FILE* f, char* buf, size_t len) { - for(int i = 0; i < len; i++) - fprintf(f, "%02x ", buf[i]); -} - -size_t read_wait(int fd, char* dst, size_t maxlen, int mdelay_us) { - fd_set fdset; - struct timeval timeout; - char read_buf[16]; - size_t read_size = 0; - size_t pos = 0; - memset(dst, 0, maxlen); - while(pos < maxlen) { - FD_ZERO(&fdset); - FD_SET(fd, &fdset); - timeout.tv_sec = 0; - timeout.tv_usec = mdelay_us; - int rv = select(fd + 1, &fdset, NULL, NULL, &timeout); - if(rv == -1) { - perror("select()"); - } else if (rv == 0) { - break; - } - read_size = read(fd, read_buf, 16); - if(read_size < 0) { - if(errno == EAGAIN) continue; - fprintf(stderr, "read error: %s\n", strerror(errno)); - exit(1); - } - if((pos + read_size) <= maxlen) { - memcpy(dst + pos, read_buf, read_size); - pos += read_size; - } else { - return pos; - fprintf(stderr, "Response buffer overflowed!\n"); - } - } - return pos; -} - -/* From libmodbus, https://github.com/stephane/libmodbus - * Under LGPL. */ -/* Table of CRC values for high-order byte */ -static const uint8_t table_crc_hi[] = { - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, - 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, - 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, - 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, - 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, - 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, - 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, - 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, - 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, - 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, - 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, - 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 -}; - -/* Table of CRC values for low-order byte */ -static const uint8_t table_crc_lo[] = { - 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, - 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, - 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, - 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, - 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, - 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, - 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, - 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, - 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, - 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, - 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, - 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, - 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, - 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, - 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, - 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, - 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, - 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, - 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, - 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, - 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, - 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, - 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, - 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, - 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, - 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 -}; - -uint16_t modbus_crc16(char* buffer, size_t buffer_length) { - uint8_t crc_hi = 0xFF; /* high CRC byte initialized */ - uint8_t crc_lo = 0xFF; /* low CRC byte initialized */ - unsigned int i; /* will index into CRC lookup */ - - /* pass through message buffer */ - while (buffer_length--) { - i = crc_hi ^ *((uint8_t*)(buffer++)); /* calculate the CRC */ - crc_hi = crc_lo ^ table_crc_hi[i]; - crc_lo = table_crc_lo[i]; - } - - return (crc_hi << 8 | crc_lo); -} - - -double ts_diff (struct timespec* begin, struct timespec* end) { - return 1000.0 * (end->tv_sec) + (1e-6 * end->tv_nsec) - - (1000.0 * (begin->tv_sec) + (1e-6 * begin->tv_nsec)); -} - -static long success = 0; -static long crcfail = 0; -static long timeout = 0; -static long stat_wait = 0; - -int modbuscmd(modbus_req *req) { - int error = 0; - struct termios tio; - char modbus_cmd[req->cmd_len + 2]; - size_t cmd_len = req->cmd_len; - - if (verbose) - fprintf(stderr, "[*] Setting TTY flags!\n"); - memset(&tio, 0, sizeof(tio)); - // CREAD should be left *off* until we've confirmed THRE - // to avoid catching false character starts - cfsetspeed(&tio,B19200); - tio.c_cflag |= PARENB; - tio.c_cflag |= CLOCAL; - tio.c_cflag |= CS8; - tio.c_iflag |= INPCK; - tio.c_cc[VMIN] = 1; - tio.c_cc[VTIME] = 0; - CHECK(tcsetattr(req->tty_fd,TCSANOW,&tio)); - - memcpy(modbus_cmd, req->modbus_cmd, cmd_len); - append_modbus_crc16(modbus_cmd, &cmd_len); - - // print command as sent - if (verbose) { - fprintf(stderr, "Will send: "); - print_hex(stderr, modbus_cmd, cmd_len); - fprintf(stderr, "\n"); - } - - dbg("[*] Writing!\n"); - - // hoped adding the ioctl to do the switching would have alleviated the - // need to do SCHED_FIFO, but we still get preempted between the write and - // ioctl syscalls w/o it often enough to break f/w updates. - struct sched_param sp; - sp.sched_priority = 50; - int policy = SCHED_FIFO; - CHECKP(sched, pthread_setschedparam(pthread_self(), policy, &sp)); - // gpio on, write, wait, gpio off - gpio_on(req->gpio_fd); - struct timespec write_begin; - struct timespec wait_begin; - struct timespec wait_end; - struct timespec read_end; - clock_gettime(CLOCK_MONOTONIC_RAW, &write_begin); - write(req->tty_fd, modbus_cmd, cmd_len); - clock_gettime(CLOCK_MONOTONIC_RAW, &wait_begin); - int waitloops = waitfd(req->tty_fd); - clock_gettime(CLOCK_MONOTONIC_RAW, &wait_end); - gpio_off(req->gpio_fd); - sp.sched_priority = 0; - // Enable UART read - tio.c_cflag |= CREAD; - CHECK(tcsetattr(req->tty_fd,TCSANOW,&tio)); - policy = SCHED_OTHER; - CHECKP(sched, pthread_setschedparam(pthread_self(), policy, &sp)); - - dbg("[*] waitfd loops: %d\n", waitloops); - dbg("[*] reading any response...\n"); - // Read back response - size_t mb_pos = 0; - memset(req->dest_buf, 0, req->dest_limit); - if(req->expected_len == 0) { - req->expected_len = req->dest_limit; - } - if(req->expected_len > req->dest_limit) { - return -1; - } - mb_pos = read_wait(req->tty_fd, req->dest_buf, req->expected_len, req->timeout); - clock_gettime(CLOCK_MONOTONIC_RAW, &read_end); - req->dest_len = mb_pos; - if(mb_pos >= 4) { - uint16_t crc = modbus_crc16(req->dest_buf, mb_pos - 2); - dbg("Modbus response CRC: %04X\n ", crc); - if((req->dest_buf[mb_pos - 2] == (crc >> 8)) && - (req->dest_buf[mb_pos - 1] == (crc & 0x00FF))) { - dbg("CRC OK!\n"); - } else { - dbg("BAD CRC :(\n"); - fprintf(stderr, "bad crc timings:"); - fprintf(stderr, " write: %.2f ms", ts_diff(&write_begin, &wait_begin)); - fprintf(stderr, " wait: %.2f ms", ts_diff(&wait_begin, &wait_end)); - fprintf(stderr, " read: %.2f ms\n", ts_diff(&wait_end, &read_end)); - if(!req->scan) { - crcfail++; - } - if(verbose) { - print_hex(stderr, req->dest_buf, mb_pos); - } - return MODBUS_BAD_CRC; - } - } else { - fprintf(stderr, "timeout timings:"); - fprintf(stderr, " write: %.2f ms", ts_diff(&write_begin, &wait_begin)); - fprintf(stderr, " wait: %.2f ms", ts_diff(&wait_begin, &wait_end)); - fprintf(stderr, " wait: %d iters", waitloops); - fprintf(stderr, " read: %.2f ms\n", ts_diff(&wait_end, &read_end)); - dbg("No response :(\n"); - if(!req->scan) { - timeout++; - } - return MODBUS_RESPONSE_TIMEOUT; - } - -cleanup: - if(error != 0) { - error = -1; - fprintf(stderr, "%s\n", strerror(errno)); - } else { - //fprintf(stderr, "success, timings:"); - //fprintf(stderr, " write: %.2f ms", ts_diff(&write_begin, &wait_begin)); - //fprintf(stderr, " wait: %.2f ms", ts_diff(&wait_begin, &wait_end)); - //fprintf(stderr, " read: %.2f ms -- ", ts_diff(&wait_end, &read_end)); - if(stat_wait == 0 && !req->scan) { - fprintf(stderr, "success: %.2f%% crcfail %.2f%%, timeout %.2f%%\n", - ((double) 100.0 * success / (success + crcfail + timeout)), - ((double) 100.0 * crcfail / (success + crcfail + timeout)), - ((double) 100.0 * timeout / (success + crcfail + timeout))); - stat_wait = 1000; - fprintf(stderr, "success timings:"); - fprintf(stderr, " write: %.2f ms", ts_diff(&write_begin, &wait_begin)); - fprintf(stderr, " wait: %.2f ms", ts_diff(&wait_begin, &wait_end)); - fprintf(stderr, " wait: %d iters", waitloops); - fprintf(stderr, " read: %.2f ms\n", ts_diff(&wait_end, &read_end)); - } else if (!req->scan) { - stat_wait--; - } - if(!req->scan) { - success++; - } - } - return 0; -} - -const char* modbus_strerror(int mb_err) { - if (mb_err < 0) { - mb_err = -mb_err; - } - switch(mb_err) { - case 4: - return "timed out"; - case 5: - return "crc check failed"; - default: - return "unknown"; - } -} |