diff --git a/content/posts/build-epics-module-modbus.md b/content/posts/build-epics-module-modbus.md new file mode 100644 index 0000000..4016c9d --- /dev/null +++ b/content/posts/build-epics-module-modbus.md @@ -0,0 +1,336 @@ +--- +title: "EPICS的MODBUS模块的编译和使用" +date: 2024-01-02T14:38:38+08:00 +draft: false +description: 交叉编译EPICS的MODBUS模块 +tags: ["linux", "EPICS", "龙芯"] +keywords: ["linux", "EPICS", "龙芯"] +categories: ["EPICS"] +--- + +## 前言 + +MODBUS是一种应用层消息传递协议，通常用于 I/O 系统通信和可编程逻辑控制器（PLC）通信。 + +|链接类型|描述| +|:---:|:---:| +|MODBUS TCP|TCP/IP 使用502端口| +|MODBUS RTU|RTU通常通过串行通信链路运行，即RS-232、 RS-422 或 RS-485。RTU 使用额外的 CRC 进行数据包检查。协议直接将每个字节作为 8 个数据位传输，因此使用“二进制” 而不是 ASCII 编码。使用串行链路开始和结束时，消息帧是按时间而不是按特定字符检测的。| +|MODBUS ASCII|串行协议，通常在串行通信链路上运行，即 RS-232、RS-422 或 RS-485。串行 ASCII 使用额外的 LRC 数据包检查。该协议将每个字节编码为 2 个 ASCII 字符。消息帧的开始和结束由特定字符检测 （“:” 开始消息，CR/LF 结束消息）。该协议效率低于 Modbus RTU，但在某些环境中可能更可靠。| + +Modbus 提供对以下 4 种类型的数据的访问： + +|主表|对象类型|访问|说明| +|:---:|:---:|:---:|:---:| +|离散输入|1bit|只读|这种类型的数据可以由 I/O 系统提供。| +|线圈|1bit|读写|此类数据可由应用程序更改。| +|输入寄存器|16位 word|只读|这种类型的数据可以由 I/O 系统提供。| +|保持寄存器|16位 word|读写|此类数据可由应用程序更改。| + +Modbus 通信由从 Modbus 客户端发送到 Modbus 服务器的请求消息组成。服务器使用响应消息进行回复。Modbus 请求消息包含： + +- 描述数据传输类型的 Modbus 功能码（1字节）。 +- Modbus 地址（2字节），用于描述从服务器中读取或写入数据的地址。 +- 对于写入操作，则需要传输写入的数据。 + +Modbus模块 支持以下 9 个 Modbus 功能码： + +|访问|功能说明|功能码| +|:---:|:---:|:---:| +|1bit|读取线圈|1| +|1bit|读取离散输入|2| +|1bit|写入单线圈|5| +|1bit|写入多个线圈|15| +|16位字访问(2字节)|读取输入寄存器|4| +|16位字访问(2字节)|读取保持寄存器|3| +|16位字访问(2字节)|写入单个寄存器|6| +|16位字访问(2字节)|写入多个寄存器|16| +|16位字访问(2字节)|读/写多个寄存器|23| + +Modbus读取操作仅限于传输125个16位字或2000 bit。Modbus写入操作仅限于传输123个16位字或1968 bit。 + +## 编译MODBUS模块 + +### 可能使用到的模块下载地址 + +- [epics-base - (launchpad.net)](https://git.launchpad.net/epics-base) / [epics-base/epics-base](https://github.com/epics-base/epics-base) / [EPICS Base (anl.gov)](https://epics.anl.gov/base/index.php) + +- [epics-modules/asyn: EPICS module for driver and device support](https://github.com/epics-modules/asyn) + +- [epics-modules/modbus: EPICS support for communication with Programmable Logic Controllers (PLCs) and other devices via the Modbus protocol over TCP, serial RTU, and serial ASCII links ](https://github.com/epics-modules/modbus) + +- [epics-modules/sscan: APS BCDA synApps module: sscan](https://github.com/epics-modules/sscan) + +- [epics-modules/calc: APS BCDA synApps module: calc](https://github.com/epics-modules/calc) + +- [epics-modules/ipac: IPAC Carrier and Communication Module Drivers](https://github.com/epics-modules/ipac) + +- [sequencer](https://www-csr.bessy.de/control/SoftDist/sequencer/repo/branch-2-2.git/) / [Download and Installation — EPICS Sequencer Version 2.2 (bessy.de)](https://www-csr.bessy.de/control/SoftDist/sequencer/Installation.html) + +需要先安装好EPICS base. + +### 编译 SSCAN（可选） + +``` shell +cd sscan +touch configure/RELEASE.local +vi configure/RELEASE.local + +# 修改成和EPICS Base一样的架构 +# EPICS_HOST_ARCH=linux-loongarch64 +# EPICS Base路径（示例） +# EPICS_BASE=/home/ubuntu/loongson/base-7.0.8 +# 放置EPICS模块的路径（示例） +# SUPPORT=/home/ubuntu/loongson/modules + +# 直接编译 +# make +# 交叉编译（示例） +make LD=loongarch64-linux-gnu-ld CC=loongarch64-linux-gnu-gcc CCC=loongarch64-linux-gnu-g++ +``` + +### 编译 CALC（可选） + +``` shell +cd calc +touch configure/RELEASE.local +vi configure/RELEASE.local + +# 修改成和EPICS Base一样的架构 +# EPICS_HOST_ARCH=linux-loongarch64 +# EPICS Base路径（示例） +# EPICS_BASE=/home/ubuntu/loongson/base-7.0.8 +# 放置EPICS模块的路径（示例） +# SUPPORT=/home/ubuntu/loongson/modules +# SSCAN模块路径 +# SSCAN=$(SUPPORT)/sscan + +# 直接编译 +# make +# 交叉编译（示例） +make LD=loongarch64-linux-gnu-ld CC=loongarch64-linux-gnu-gcc CCC=loongarch64-linux-gnu-g++ +``` + +### 编译 asyn（必需） + +``` shell +cd asyn +touch configure/RELEASE.local +vi configure/RELEASE.local + +# 修改成和EPICS Base一样的架构 +# EPICS_HOST_ARCH=linux-loongarch64 +# EPICS Base路径（示例） +# EPICS_BASE=/home/ubuntu/loongson/base-7.0.8 +# 放置EPICS模块的路径（示例） +# SUPPORT=/home/ubuntu/loongson/modules +# SSCAN模块路径 +# SSCAN=$(SUPPORT)/sscan +# CALC模块路径 +# CALC=$(SUPPORT)/calc + +# 直接编译 +# make +# 交叉编译（示例） +make LD=loongarch64-linux-gnu-ld CC=loongarch64-linux-gnu-gcc CCC=loongarch64-linux-gnu-g++ +``` + +### 编译 modbus + +``` shell +cd modbus +touch configure/RELEASE.local +vi configure/RELEASE.local + +# 修改成和EPICS Base一样的架构 +# EPICS_HOST_ARCH=linux-loongarch64 +# EPICS Base路径（示例） +# EPICS_BASE=/home/ubuntu/loongson/base-7.0.8 +# 放置EPICS模块的路径（示例） +# SUPPORT=/home/ubuntu/loongson/modules +# ASYN模块路径 +# SSCAN=$(SUPPORT)/asyn + +# 直接编译 +# make +# 交叉编译（示例） +make LD=loongarch64-linux-gnu-ld CC=loongarch64-linux-gnu-gcc CCC=loongarch64-linux-gnu-g++ +``` + +编译完成后，可以看到`bin\`路径下生成了`modbusApp`可执行程序，它就是与Mosbus设备通信的主程序了。 + +## 使用 MODBUS 程序 + +在Modbus模块的`iocBoot\iocTest`目录下，可以看到很多示例程序。这里总结一下，我们使用时主要需要编写两部分内容。 + +- 用于配置设备连接和通信的`.cmd`文件 +- 用于使用模板解析数据的`.substitutions`文件 + +这里给出示例并做简要说明。 + +``` shell +# envPaths + +epicsEnvSet("IOC","app") +epicsEnvSet("TOP","..") +epicsEnvSet("SUPPORT","/root/modules") +epicsEnvSet("ASYN","/root/modules/asyn") +epicsEnvSet("MODBUS","/root/modules/modbus") +epicsEnvSet("EPICS_BASE","/root/base") +# epicsEnvSet("EPICS_CAS_SERVER_PORT", 9001) +``` + +这里需要配置好`base`、`asyn`、`modbus`模块的路径。 + +``` shell +# AMSAMOTION.cmd + +< envPaths + +dbLoadDatabase("$(MODBUS)/dbd/modbusApp.dbd") +modbusApp_registerRecordDeviceDriver(pdbbase) + +# MODBUS TCP 配置 +# Use the following commands for TCP/IP +#drvAsynIPPortConfigure(const char *portName, +# const char *hostInfo, +# unsigned int priority, +# int noAutoConnect, +# int noProcessEos); +drvAsynIPPortConfigure("AMSAMOTION","192.168.xxx.xxx:502",0,0,1) +#asynSetOption("AMSAMOTION",0, "disconnectOnReadTimeout", "Y") + +# 超时设置 +#modbusInterposeConfig(const char *portName, +# modbusLinkType linkType, +# int timeoutMsec, +# int writeDelayMsec) +modbusInterposeConfig("AMSAMOTION",0,5000,0) + +# 读取/写入配置 +#drvModbusAsynConfigure(portName, +# tcpPortName, +# slaveAddress, +# modbusFunction, +# modbusStartAddress, +# modbusLength, +# dataType, +# pollMsec, +# plcType); +drvModbusAsynConfigure("AMSA:AI", "AMSAMOTION", 1, 4, 0, 6, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:AO1","AMSAMOTION", 1, 6, 0, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:AO2","AMSAMOTION", 1, 6, 1, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:AOSta","AMSAMOTION",1, 3, 0, 2, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DI", "AMSAMOTION", 1, 2, 0, 8, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DO1","AMSAMOTION", 1, 5, 0, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DO2","AMSAMOTION", 1, 5, 1, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DO3","AMSAMOTION", 1, 5, 2, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DO4","AMSAMOTION", 1, 5, 3, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DO5","AMSAMOTION", 1, 5, 4, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DO6","AMSAMOTION", 1, 5, 5, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DO7","AMSAMOTION", 1, 5, 6, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DO8","AMSAMOTION", 1, 5, 7, 1, 0, 100, "AMSA") +drvModbusAsynConfigure("AMSA:DOSta","AMSAMOTION",1, 1, 0, 8, 0, 100, "AMSA") + +# Enable ASYN_TRACEIO_HEX on modbus server +asynSetTraceIOMask("AMSAMOTION",0,4) +# Dump up to 512 bytes in asynTrace +asynSetTraceIOTruncateSize("AMSAMOTION",0,512) + +dbLoadTemplate("AMSAMOTION.substitutions") + +iocInit +``` + +``` shell +# AMSAMOTION.substitutions + +# asyn record for the underlying asyn octet port +file "$(ASYN)/db/asynRecord.db" { pattern +{P, R, PORT, ADDR, IMAX, OMAX} +{AMSAMOTION: OctetAsyn, AMSAMOTION, 0, 80, 80} +} + +file "$(TOP)/db/ai.template" { pattern +{P, R, PORT, OFFSET, BITS, EGUL, EGUF, PREC, SCAN} +{AMSAMOTION:, AI1, AMSA:AI, 0, 0xFFFF, 0, 65535, 0, "I/O Intr"} +{AMSAMOTION:, AI2, AMSA:AI, 1, 0xFFFF, 0, 65535, 0, "I/O Intr"} +{AMSAMOTION:, AI3, AMSA:AI, 2, 0xFFFF, 0, 65535, 0, "I/O Intr"} +{AMSAMOTION:, AI4, AMSA:AI, 3, 0xFFFF, 0, 65535, 0, "I/O Intr"} +{AMSAMOTION:, AI5, AMSA:AI, 4, 0xFFFF, 0, 65535, 0, "I/O Intr"} +{AMSAMOTION:, AI6, AMSA:AI, 5, 0xFFFF, 0, 65535, 0, "I/O Intr"} +} + +file "$(TOP)/db/ao.template" { pattern +{P, R, PORT, OFFSET, BITS, EGUL, EGUF, PREC} +{AMSAMOTION: AO1, AMSA:AO1, 0, 0xFFFF, 0, 65535, 0} +{AMSAMOTION: AO2, AMSA:AO2, 0, 0xFFFF, 0, 65535, 0} +} + +file "$(TOP)/db/ai.template" { pattern +{P, R, PORT, OFFSET, BITS, EGUL, EGUF, PREC, SCAN} +{AMSAMOTION:, AO1:STATE, AMSA:AOSta, 0, 0xFFFF, 0, 65535, 0, "1 second"} +{AMSAMOTION:, AO2:STATE, AMSA:AOSta, 1, 0xFFFF, 0, 65535, 0, "1 second"} +} + +file "$(TOP)/db/bi_bit.template" { pattern +{P, R, PORT, OFFSET, ZNAM, ONAM, ZSV, OSV, SCAN} +{AMSAMOTION: DI1, AMSA:DI, 0, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DI2, AMSA:DI, 1, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DI3, AMSA:DI, 2, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DI4, AMSA:DI, 3, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DI5, AMSA:DI, 4, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DI6, AMSA:DI, 5, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DI7, AMSA:DI, 6, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DI8, AMSA:DI, 7, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +} + +file "$(TOP)/db/bi_bit.template" { pattern +{P, R, PORT, OFFSET, ZNAM, ONAM, ZSV, OSV, SCAN} +{AMSAMOTION: DO1:STATE, AMSA:DOSta, 0, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DO2:STATE, AMSA:DOSta, 1, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DO3:STATE, AMSA:DOSta, 2, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DO4:STATE, AMSA:DOSta, 3, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DO5:STATE, AMSA:DOSta, 4, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DO6:STATE, AMSA:DOSta, 5, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DO7:STATE, AMSA:DOSta, 6, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +{AMSAMOTION: DO8:STATE, AMSA:DOSta, 7, OFF, ON, NO_ALARM, MAJOR, "I/O Intr"} +} + + +file "$(TOP)/db/bo_bit.template" { pattern +{P, R, PORT, OFFSET, ZNAM, ONAM} +{AMSAMOTION: DO1, AMSA:DO1, 0, OFF, ON} +{AMSAMOTION: DO2, AMSA:DO2, 0, OFF, ON} +{AMSAMOTION: DO3, AMSA:DO3, 0, OFF, ON} +{AMSAMOTION: DO4, AMSA:DO4, 0, OFF, ON} +{AMSAMOTION: DO5, AMSA:DO5, 0, OFF, ON} +{AMSAMOTION: DO6, AMSA:DO6, 0, OFF, ON} +{AMSAMOTION: DO7, AMSA:DO7, 0, OFF, ON} +{AMSAMOTION: DO8, AMSA:DO8, 0, OFF, ON} +} +``` + +最后运行程序，在终端执行： + +``` shell +/path/to/modbus/bin//modbusApp AMSAMOTION.cmd +``` + +或者在`.cmd`文件第一行添加下面一行： + +``` shell +#!../bin//modbusApp +``` + +然后直接执行`.cmd`脚本。 + +``` shell +chmod +x AMSAMOTION.cmd +./AMSAMOTION.cmd +``` + +**参考** + +- [Overview of Modbus](https://epics-modbus.readthedocs.io/en/latest/overview.html) +- [Creating a modbus port driver](https://epics-modbus.readthedocs.io/en/latest/creating_driver.html)