lpcmanager

Finished RTU Master support

2015-06-19, Edouard Tisserant
bf4901ab3a96
Parents 46839ad22942
Children 3350ed098c70
Finished RTU Master support
6 files changed, 397 insertions(+), 369 deletions(-)
  • +13 -3
    LPCBus/MC9.c
  • +7 -7
    LPCBus/MC9_OnBoard_cleanup.c
  • +337 -268
    LPCBus/MC9_OnBoard_decl.c
  • +32 -75
    LPCBus/MC9_OnBoard_init.c
  • +6 -8
    LPCBus/MC9_OnBoard_publish.c
  • +2 -8
    LPCBus/MC9_OnBoard_retrieve.c
    • --- a/LPCBus/MC9.c Mon Jun 15 15:04:14 2015 +0200
    +++ b/LPCBus/MC9.c Fri Jun 19 14:21:05 2015 +0200
    @@ -32,11 +32,21 @@
    *buffer &= ~msk;
    }
    -typedef struct /* Type definition for timers for right modules */
    +static void setWord16(short *buffer, uint16_t word)
    +{
    + *buffer = (short)word;
    +}
    +
    +static int16_t getWord16(short *buffer)
    +{
    + return((uint16_t)*buffer);
    +}
    +
    +typedef struct
    {
    unsigned char status; /* Current status of timer - running / expired */
    - long long actValue; /* Actual timer value */
    - long long toValue; /* Timeout value - initialized at startup */
    + uint64_t actValue; /* Actual timer value */
    + uint64_t toValue; /* Timeout value - initialized at startup */
    } commTimer;
    #define TIM_DISABLED 0
    --- a/LPCBus/MC9_OnBoard_cleanup.c Mon Jun 15 15:04:14 2015 +0200
    +++ b/LPCBus/MC9_OnBoard_cleanup.c Fri Jun 19 14:21:05 2015 +0200
    @@ -1,7 +1,7 @@
    -// mbmrtu_cleanup();
    -// rt_task_delete(&RTU_UART_task);
    -// rt_task_join(&RTU_UART_task);
    -// rt_task_delete(&RTU_task);
    -// rt_task_join(&RTU_task);
    -// rt_mutex_delete(&RTU_BuffMutex);
    -// gpio_close(RTU_GPIO_dev);
    +mbmrtu_cleanup();
    +rt_task_delete(&RTU_UART_task);
    +rt_task_join(&RTU_UART_task);
    +rt_task_delete(&RTU_task);
    +rt_task_join(&RTU_task);
    +rt_mutex_delete(&RTU_BuffMutex);
    +gpio_close(RTU_GPIO_dev);
    --- a/LPCBus/MC9_OnBoard_decl.c Mon Jun 15 15:04:14 2015 +0200
    +++ b/LPCBus/MC9_OnBoard_decl.c Fri Jun 19 14:21:05 2015 +0200
    @@ -1,268 +1,337 @@
    -//
    -// /*------------------------- GPIO -------------------------------------*/
    -// /* from armadeus/target/packages/as_devices/c/as_gpio* */
    -//
    -// //#ifdef DEBUG
    -// # define ERROR(fmt, ...) printf(fmt, ##__VA_ARGS__)
    -// //#else
    -// //# define ERROR(fmt, ...) /*fmt, ##__VA_ARGS__*/
    -// //#endif
    -//
    -// struct gpio_device {
    -// int port_num;
    -// int pin_file; /* pin file for 2.6.29 interface*/
    -// };
    -//
    -// struct gpio_device *RTU_GPIO_dev;
    -//
    -// static int write_file_bool(int fd, int value)
    -// {
    -// int ret;
    -//
    -// ret = write(fd, value?"1":"0", 1);
    -// if (ret < 0) {
    -// ERROR("write error\n");
    -// return ret;
    -// }
    -// if (lseek(fd, 0, SEEK_SET) < 0) {
    -// ERROR("lseek error\n");
    -// return ret;
    -// }
    -//
    -// return ret;
    -// }
    -//
    -// #define BUFF_SIZE 256
    -// static struct gpio_device *gpio_open(int aGpioNum)
    -// {
    -// struct gpio_device *dev;
    -// int pin_file;
    -// int export_file;
    -// int gpio_dir_fd;
    -// int retval;
    -// char buf[BUFF_SIZE];
    -// int ret = 0;
    -//
    -// export_file = open("/sys/class/gpio/export", O_WRONLY);
    -// if (export_file < 0) {
    -// ERROR("Can't open /sys/class/gpio/export\nBe sure that gpiolib is under your kernel\n");
    -// return NULL;
    -// }
    -//
    -// snprintf(buf, BUFF_SIZE, "%%d", aGpioNum);
    -// retval = write(export_file, buf, strlen(buf));
    -// close(export_file);
    -// if (retval < 0) {
    -// ERROR("/sys/class/gpio/export can't be written\n");
    -// return NULL;
    -// }
    -//
    -// snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/direction", aGpioNum);
    -// gpio_dir_fd = open(buf, O_WRONLY);
    -// if (gpio_dir_fd < 0) {
    -// ERROR("Can't open gpio%%d direction\n", aGpioNum);
    -// return NULL;
    -// }
    -//
    -// ret = write(gpio_dir_fd, "out", 3);
    -// close(gpio_dir_fd);
    -// if (ret < 0){
    -// ERROR("Error writing direction\n");
    -// return NULL;
    -// }
    -//
    -// snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/value", aGpioNum);
    -// pin_file = open(buf, O_RDWR);
    -// if (pin_file < 0) {
    -// ERROR("Can't export gpio number %%d\n", aGpioNum);
    -// return NULL;
    -// }
    -//
    -// dev = malloc(sizeof(struct gpio_device));
    -// if (dev == NULL) {
    -// ERROR("Can't allocate gpio_device structure\n");
    -// close(pin_file);
    -// return NULL;
    -// }
    -//
    -// dev->port_num = aGpioNum;
    -// dev->pin_file = pin_file;
    -//
    -// return dev;
    -// }
    -//
    -// static int gpio_close(struct gpio_device *aDev)
    -// {
    -// int unexport_file;
    -// char buf[BUFF_SIZE];
    -// int retval;
    -//
    -// if(aDev == NULL){
    -// ERROR("device is NULL\n");
    -// return -1;
    -// }
    -//
    -// unexport_file = open("/sys/class/gpio/unexport", O_WRONLY);
    -// if (unexport_file < 0) {
    -// ERROR("Can't open /sys/class/gpio/unexport\nBe sure that gpiolib is under your kernel\n");
    -// return -1;
    -// }
    -//
    -// snprintf(buf, BUFF_SIZE, "%%d", aDev->port_num);
    -// retval = write(unexport_file, buf, strlen(buf));
    -// close(unexport_file);
    -// if (retval < 0) {
    -// ERROR("/sys/class/gpio/unexport can't be written\n");
    -// return -1;
    -// }
    -//
    -// close(aDev->pin_file);
    -//
    -// return 0;
    -// }
    -//
    -// static int gpio_set_pin_value(struct gpio_device *aDev, int aValue)
    -// {
    -// int pin_file = aDev->pin_file;
    -// int retval;
    -//
    -// retval = write_file_bool(pin_file, aValue);
    -// if (retval < 0) {
    -// ERROR("Can't write value\n");
    -// close(pin_file);
    -// return -1;
    -// }
    -//
    -// return aValue;
    -// }
    -//
    -// #define REG_DISCRETE_START 0 /**< Input discrete start address */
    -// #define REG_DISCRETE_NREGS 511 /**< 512 bits (type: single bit, Read only) */
    -//
    -// #define REG_COILS_START 0 /**< Coils start address */
    -// #define REG_COILS_NREGS 511 /**< 512 bits (type: single bit, Read/Write) */
    -//
    -// #define REG_INPUT_START 0 /**< Input registers start address */
    -// #define REG_INPUT_NREGS 511 /**< 512 words (type: 16-bit word, Read only) */
    -//
    -// #define REG_HOLDING_START 0 /**< Holding registers start address */
    -// #define REG_HOLDING_NREGS 511 /**< 512 words (type: 16-bit word, Read/Write) */
    -//
    -// #define MAX_MOD_RTU_DEVICES 16
    -//
    -// typedef struct _mbRtuRdHoldingRegs {
    -// unsigned int use;
    -// unsigned short startAddr;
    -// unsigned char length;
    -// unsigned short* buffer;
    -// } mbRtuRdHoldingRegs;
    -//
    -// typedef struct _mbRtuRdDiscInputs {
    -// unsigned int use;
    -// unsigned short startAddr;
    -// unsigned short length;
    -// unsigned char* buffer;
    -// // unsigned short* buffer;
    -// } mbRtuRdDiscInputs;
    -//
    -// typedef struct _mbRtuRdCoils {
    -// unsigned int use;
    -// unsigned short startAddr;
    -// unsigned short length;
    -// unsigned char* buffer;
    -// } mbRtuRdCoils;
    -//
    -// typedef struct _mbRtuWrSingleCoil {
    -// unsigned int use;
    -// unsigned short startAddr;
    -// unsigned char* buffer;
    -// } mbRtuWrSingleCoil;
    -//
    -// typedef struct _mbRtuWrCoils {
    -// unsigned int use;
    -// unsigned short startAddr;
    -// unsigned short length;
    -// unsigned char* buffer;
    -// } mbRtuWrCoils;
    -//
    -// typedef struct _mbRtuRdInputRegs {
    -// unsigned int use;
    -// unsigned short startAddr;
    -// unsigned char length;
    -// unsigned short* buffer;
    -// } mbRtuRdInputRegs;
    -//
    -// typedef struct _mbRtuWrSingleReg {
    -// unsigned int use;
    -// unsigned short startAddr;
    -// unsigned short* buffer;
    -// } mbRtuWrSingleReg;
    -//
    -// typedef struct _mbRtuWrMultiRegs {
    -// unsigned int use;
    -// unsigned short startAddr;
    -// unsigned char length;
    -// unsigned short* buffer;
    -// } mbRtuWrMultiRegs;
    -//
    -// typedef struct _mbRtuSlaveConfig {
    -// unsigned char slaveAddr;
    -// mbRtuRdDiscInputs rdDiscInputs;
    -// mbRtuRdCoils rdCoils;
    -// mbRtuWrSingleCoil wrSingleCoil;
    -// mbRtuWrCoils wrCoils;
    -// mbRtuRdInputRegs rdInputRegs;
    -// mbRtuRdHoldingRegs rdHoldingRegs;
    -// mbRtuWrSingleReg wrSingleReg;
    -// mbRtuWrMultiRegs wrMultiRegs;
    -// } mbRtuSlaveConfig;
    -//
    -// mbRtuSlaveConfig mbRtuSlaveDev[MAX_MOD_RTU_DEVICES]; /**< Tables containing information about connected Modbus network devices (initialized by Composer) */
    -// commTimer mbRtuDevTim[MAX_MOD_RTU_DEVICES]; /**< Table of timers (one for each position) */
    -// unsigned short usRegInputValue[REG_INPUT_NREGS]; /**< Array of Modbus input registers */
    -// unsigned short usRegHoldingValue[REG_HOLDING_NREGS]; /**< Array of Modbus holding registers */
    -// unsigned char ubCoilValue[REG_COILS_NREGS/8]; /**< Array of Modbus coils (8 coils per byte) */
    -// unsigned char ubRegDiscreteValue[REG_DISCRETE_NREGS/8]; /**< Array of Modbus discrete inputs (8 inputs per byte) */
    -//
    -// /* prototypes for functions defined in shared library */
    -// int mbmrtu_init();
    -// void mbmrtu_BusUpdate(void);
    -//
    -// static RT_TASK RTU_UART_task;
    -// static RT_TASK RTU_task;
    -// static RT_MUTEX RTU_BuffMutex;
    -//
    -// void LockMBRTUBuffer(void){
    -// rt_mutex_acquire(&RTU_BuffMutex, TM_INFINITE );
    -// }
    -// void UnLockMBRTUBuffer(void){
    -// rt_mutex_release(&RTU_BuffMutex);
    -// }
    -//
    -// typedef void (RTU_UART_task_proc_t*)(void*);
    -// void CreateMBRTUSerialTask(RTU_UART_task_proc_t* RTU_UART_task_proc, void* param){
    -// int err;
    -// if(rt_task_start(&RTU_UART_task, RTU_UART_task_proc, param))
    -// return err;
    -// return 0;
    -// }
    -//
    -// static void mbmrtu_BusUpdate_proc(void){
    -// while (rt_task_sleep_until(TM_INFINITE) == -EINTR){
    -// mbmrtu_BusUpdate();
    -// }
    -// }
    -//
    -// RTIME now;
    -// void TransmitMode(void){
    -// gpio_set_pin_value(RTU_GPIO_dev, 1);
    -// now = rt_timer_read();
    -// }
    -// void RecieveMode(int us){
    -// while(rt_task_sleep_until(
    -// now + rt_timer_ns2ticks(1000LL*us)
    -// )) == -EINTR);
    -// gpio_set_pin_value(RTU_GPIO_dev, 0);
    -// }
    -//
    -//
    +
    +#include <native/task.h>
    +#include <native/mutex.h>
    +#include <native/timer.h>
    +#include <unistd.h>
    +#include <fcntl.h>
    +
    +#include "beremiz.h"
    +
    +/*------------------------- GPIO -------------------------------------*/
    +/* from armadeus/target/packages/as_devices/c/as_gpio* */
    +
    +//#ifdef DEBUG
    +# define ERROR(fmt, ...) printf(fmt, ##__VA_ARGS__)
    +//#else
    +//# define ERROR(fmt, ...) /*fmt, ##__VA_ARGS__*/
    +//#endif
    +
    +struct gpio_device {
    + int port_num;
    + int pin_file; /* pin file for 2.6.29 interface*/
    +};
    +
    +struct gpio_device *RTU_GPIO_dev;
    +
    +static int write_file_bool(int fd, int value)
    +{
    + int ret;
    +
    + ret = write(fd, value?"1":"0", 1);
    + if (ret < 0) {
    + ERROR("write error\n");
    + return ret;
    + }
    + if (lseek(fd, 0, SEEK_SET) < 0) {
    + ERROR("lseek error\n");
    + return ret;
    + }
    +
    + return ret;
    +}
    +
    +#define BUFF_SIZE 256
    +static int gpio_set_pin_value(struct gpio_device *aDev, int aValue)
    +{
    + int pin_file = aDev->pin_file;
    + int retval;
    +
    + retval = write_file_bool(pin_file, aValue);
    + if (retval < 0) {
    + ERROR("Can't write value\n");
    + close(pin_file);
    + return -1;
    + }
    +
    + return aValue;
    +}
    +
    +static struct gpio_device *gpio_open(int aGpioNum)
    +{
    + struct gpio_device *dev;
    + int pin_file;
    + int export_file;
    + int gpio_dir_fd;
    + int retval;
    + char buf[BUFF_SIZE];
    + int ret = 0;
    +
    + export_file = open("/sys/class/gpio/export", O_WRONLY);
    + if (export_file < 0) {
    + ERROR("Can't open /sys/class/gpio/export\nBe sure that gpiolib is under your kernel\n");
    + return NULL;
    + }
    +
    + snprintf(buf, BUFF_SIZE, "%%d", aGpioNum);
    + retval = write(export_file, buf, strlen(buf));
    + close(export_file);
    + if (retval < 0) {
    + ERROR("/sys/class/gpio/export can't be written\n");
    + return NULL;
    + }
    +
    + snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/direction", aGpioNum);
    + gpio_dir_fd = open(buf, O_WRONLY);
    + if (gpio_dir_fd < 0) {
    + ERROR("Can't open gpio%%d direction\n", aGpioNum);
    + return NULL;
    + }
    +
    + ret = write(gpio_dir_fd, "out", 3);
    + close(gpio_dir_fd);
    + if (ret < 0){
    + ERROR("Error writing direction\n");
    + return NULL;
    + }
    +
    + snprintf(buf, BUFF_SIZE, "/sys/class/gpio/gpio%%d/value", aGpioNum);
    + pin_file = open(buf, O_RDWR);
    + if (pin_file < 0) {
    + ERROR("Can't export gpio number %%d\n", aGpioNum);
    + return NULL;
    + }
    +
    + dev = malloc(sizeof(struct gpio_device));
    + if (dev == NULL) {
    + ERROR("Can't allocate gpio_device structure\n");
    + close(pin_file);
    + return NULL;
    + }
    +
    + dev->port_num = aGpioNum;
    + dev->pin_file = pin_file;
    +
    + gpio_set_pin_value(dev, 1);
    +
    + return dev;
    +}
    +
    +static int gpio_close(struct gpio_device *aDev)
    +{
    + int unexport_file;
    + char buf[BUFF_SIZE];
    + int retval;
    +
    + if(aDev == NULL){
    + ERROR("device is NULL\n");
    + return -1;
    + }
    +
    + unexport_file = open("/sys/class/gpio/unexport", O_WRONLY);
    + if (unexport_file < 0) {
    + ERROR("Can't open /sys/class/gpio/unexport\nBe sure that gpiolib is under your kernel\n");
    + return -1;
    + }
    +
    + snprintf(buf, BUFF_SIZE, "%%d", aDev->port_num);
    + retval = write(unexport_file, buf, strlen(buf));
    + close(unexport_file);
    + if (retval < 0) {
    + ERROR("/sys/class/gpio/unexport can't be written\n");
    + return -1;
    + }
    +
    + close(aDev->pin_file);
    +
    + return 0;
    +}
    +
    +
    +#define REG_DISCRETE_START 0 /**< Input discrete start address */
    +#define REG_DISCRETE_NREGS 511 /**< 512 bits (type: single bit, Read only) */
    +
    +#define REG_COILS_START 0 /**< Coils start address */
    +#define REG_COILS_NREGS 511 /**< 512 bits (type: single bit, Read/Write) */
    +
    +#define REG_INPUT_START 0 /**< Input registers start address */
    +#define REG_INPUT_NREGS 511 /**< 512 words (type: 16-bit word, Read only) */
    +
    +#define REG_HOLDING_START 0 /**< Holding registers start address */
    +#define REG_HOLDING_NREGS 511 /**< 512 words (type: 16-bit word, Read/Write) */
    +
    +#define MAX_MOD_RTU_DEVICES 16
    +
    +typedef struct _mbRtuRdHoldingRegs {
    + unsigned int use;
    + unsigned short startAddr;
    + unsigned char length;
    + short* buffer;
    +} mbRtuRdHoldingRegs;
    +
    +typedef struct _mbRtuRdDiscInputs {
    + unsigned int use;
    + unsigned short startAddr;
    + unsigned short length;
    + char* buffer;
    +// unsigned short* buffer;
    +} mbRtuRdDiscInputs;
    +
    +typedef struct _mbRtuRdCoils {
    + unsigned int use;
    + unsigned short startAddr;
    + unsigned short length;
    + char* buffer;
    +} mbRtuRdCoils;
    +
    +typedef struct _mbRtuWrSingleCoil {
    + unsigned int use;
    + unsigned short startAddr;
    + char* buffer;
    +} mbRtuWrSingleCoil;
    +
    +typedef struct _mbRtuWrCoils {
    + unsigned int use;
    + unsigned short startAddr;
    + unsigned short length;
    + char* buffer;
    +} mbRtuWrCoils;
    +
    +typedef struct _mbRtuRdInputRegs {
    + unsigned int use;
    + unsigned short startAddr;
    + unsigned char length;
    + short* buffer;
    +} mbRtuRdInputRegs;
    +
    +typedef struct _mbRtuWrSingleReg {
    + unsigned int use;
    + unsigned short startAddr;
    + short* buffer;
    +} mbRtuWrSingleReg;
    +
    +typedef struct _mbRtuWrMultiRegs {
    + unsigned int use;
    + unsigned short startAddr;
    + unsigned char length;
    + short* buffer;
    +} mbRtuWrMultiRegs;
    +
    +typedef struct _mbRtuSlaveConfig {
    + unsigned char slaveAddr;
    + mbRtuRdDiscInputs rdDiscInputs;
    + mbRtuRdCoils rdCoils;
    + mbRtuWrSingleCoil wrSingleCoil;
    + mbRtuWrCoils wrCoils;
    + mbRtuRdInputRegs rdInputRegs;
    + mbRtuRdHoldingRegs rdHoldingRegs;
    + mbRtuWrSingleReg wrSingleReg;
    + mbRtuWrMultiRegs wrMultiRegs;
    +} mbRtuSlaveConfig;
    +
    +#define MAX_ONBOARD_DEVICES 2
    +unsigned char onBoardDev[MAX_ONBOARD_DEVICES][2]; /**< Arrays containing information about enabled on-board devices (initialized by Composer) */
    +mbRtuSlaveConfig mbRtuSlaveDev[MAX_MOD_RTU_DEVICES]; /**< Tables containing information about connected Modbus network devices (initialized by Composer) */
    +commTimer mbRtuDevTim[MAX_MOD_RTU_DEVICES]; /**< Table of timers (one for each position) */
    +short usRegInputValue[REG_INPUT_NREGS]; /**< Array of Modbus input registers */
    +short usRegHoldingValue[REG_HOLDING_NREGS]; /**< Array of Modbus holding registers */
    +char ubCoilValue[REG_COILS_NREGS/8]; /**< Array of Modbus coils (8 coils per byte) */
    +char ubRegDiscreteValue[REG_DISCRETE_NREGS/8]; /**< Array of Modbus discrete inputs (8 inputs per byte) */
    +
    +/* prototypes for functions defined in shared library */
    +int mbmrtu_init(void);
    +void mbmrtu_BusUpdate(int);
    +int mbmrtu_cleanup(void);
    +
    +static RT_TASK RTU_UART_task;
    +static RT_TASK RTU_task;
    +static RT_MUTEX RTU_BuffMutex;
    +
    +void LockMBRTUBuffer(void){
    + while ( rt_mutex_acquire(&RTU_BuffMutex, TM_INFINITE ) == -EINTR);
    +}
    +void UnLockMBRTUBuffer(void){
    + rt_mutex_release(&RTU_BuffMutex);
    +}
    +
    +typedef struct {
    + void*(*RTU_UART_task_proc)(void *);
    + void* xSerHdl;
    +} MB_xeno_task_adaptor_t;
    +
    +static MB_xeno_task_adaptor_t MB_xeno_task_adaptor_data;
    +
    +void MB_xeno_task_adaptor(void* param)
    +{
    + MB_xeno_task_adaptor_t *d = param;
    + d->RTU_UART_task_proc(d->xSerHdl);
    +}
    +
    +int CreateMBRTUSerialTask(
    + void*(*RTU_UART_task_proc)(void *),
    + void* param)
    +{
    + int err;
    +
    + MB_xeno_task_adaptor_data.RTU_UART_task_proc = RTU_UART_task_proc;
    + MB_xeno_task_adaptor_data.xSerHdl = param;
    +
    + if((err = rt_task_start(&RTU_UART_task,
    + MB_xeno_task_adaptor,
    + &MB_xeno_task_adaptor_data)) != 0)
    + return err;
    + return 0;
    +}
    +
    +#define nsTOms(ns) (ns/1000000L)
    +#define INVALID_RTU_ADDR 255 /* Used when no Modbus RTU slave device is present */
    +static void mbmrtu_BusUpdate_proc(void *param){
    + uint64_t msticktime = nsTOms(common_ticktime__);
    + while (rt_task_sleep_until(TM_INFINITE) == -EINTR){
    + int i;
    + for(i=0;i<MAX_MOD_RTU_DEVICES;i++)
    + {
    + if(mbRtuSlaveDev[i].slaveAddr != INVALID_RTU_ADDR)
    + {
    + if(mbRtuDevTim[i].status != TIM_DISABLED)
    + {
    + mbRtuDevTim[i].actValue += msticktime;
    + if(mbRtuDevTim[i].actValue < mbRtuDevTim[i].toValue)
    + {
    + mbRtuDevTim[i].status = TIM_EN_RUNNING;
    + }
    + else
    + mbRtuDevTim[i].status = TIM_EN_EXPIRED;
    + }
    + /* Check if communication depends on timer - if it does, check timer status */
    + if((mbRtuDevTim[i].status == TIM_DISABLED) || (mbRtuDevTim[i].status == TIM_EN_EXPIRED))
    + {
    + mbmrtu_BusUpdate(i);
    +
    + /* If timer is enabled, reset it's value, otherwise keep it disabled */
    + if(mbRtuDevTim[i].status != TIM_DISABLED)
    + {
    + mbRtuDevTim[i].actValue = 0; /* Reset timer value */
    + mbRtuDevTim[i].status = TIM_EN_RUNNING;
    + }
    + else /* Keep timer disabled */
    + mbRtuDevTim[i].status = TIM_DISABLED;
    + }
    + }
    + }
    +
    + }
    +}
    +
    +RTIME now;
    +void TransmitMode(void){
    + gpio_set_pin_value(RTU_GPIO_dev, 1);
    + now = rt_timer_read();
    +}
    +void RecieveMode(int us){
    + while(rt_task_sleep_until(
    + now + rt_timer_ns2ticks(1000LL*us)
    + ) == -EINTR);
    + gpio_set_pin_value(RTU_GPIO_dev, 0);
    +}
    +
    +
    --- a/LPCBus/MC9_OnBoard_init.c Mon Jun 15 15:04:14 2015 +0200
    +++ b/LPCBus/MC9_OnBoard_init.c Fri Jun 19 14:21:05 2015 +0200
    @@ -1,75 +1,32 @@
    -// int err;
    -//
    -// bzero(&usRegInputValue , sizeof(usRegInputValue ));
    -// bzero(&usRegHoldingValue , sizeof(usRegHoldingValue ));
    -// bzero(&ubCoilValue , sizeof(ubCoilValue ));
    -// bzero(&ubRegDiscreteValue, sizeof(ubRegDiscreteValue));
    -// bzero(&mbRtuSlaveDev , sizeof(mbRtuSlaveDev ));
    -// bzero(&mbRtuDevTim , sizeof(mbRtuDevTim ));
    -//
    -// %(init_code)s
    -// // ******** STUB code for composer **************
    -// // for(i=0;i<MAX_MOD_RTU_DEVICES;i++)
    -// // {
    -// // mbRtuSlaveDev[i].slaveAddr = INVALID_RTU_ADDR;
    -// // mbRtuDevTim[i].toValue = 0;
    -// // mbRtuDevTim[i].status = TIM_DISABLED;
    -// //
    -// // mbRtuSlaveDev[i].rdDiscInputs.use = FALSE;
    -// // mbRtuSlaveDev[i].rdDiscInputs.startAddr = 0;
    -// // mbRtuSlaveDev[i].rdDiscInputs.length = 0;
    -// // mbRtuSlaveDev[i].rdDiscInputs.buffer = &ubRegDiscreteValue[0];
    -// //
    -// // mbRtuSlaveDev[i].rdCoils.use = FALSE;
    -// // mbRtuSlaveDev[i].rdCoils.startAddr = 0;
    -// // mbRtuSlaveDev[i].rdCoils.length = 0;
    -// // mbRtuSlaveDev[i].rdCoils.buffer = &ubCoilValue[0];
    -// //
    -// // mbRtuSlaveDev[i].wrSingleCoil.use = FALSE;
    -// // mbRtuSlaveDev[i].wrSingleCoil.startAddr = 0;
    -// // mbRtuSlaveDev[i].wrSingleCoil.buffer = &ubCoilValue[0];
    -// //
    -// // mbRtuSlaveDev[i].wrCoils.use = FALSE;
    -// // mbRtuSlaveDev[i].wrCoils.startAddr = 0;
    -// // mbRtuSlaveDev[i].wrCoils.length = 0;
    -// // mbRtuSlaveDev[i].wrCoils.buffer = &ubCoilValue[0];
    -// //
    -// // mbRtuSlaveDev[i].rdInputRegs.use = FALSE;
    -// // mbRtuSlaveDev[i].rdInputRegs.startAddr = 0;
    -// // mbRtuSlaveDev[i].rdInputRegs.length = 0;
    -// // mbRtuSlaveDev[i].rdInputRegs.buffer = &usRegInputValue[0];
    -// //
    -// // mbRtuSlaveDev[i].rdHoldingRegs.use = FALSE;
    -// // mbRtuSlaveDev[i].rdHoldingRegs.startAddr = 0;
    -// // mbRtuSlaveDev[i].rdHoldingRegs.length = 0;
    -// // mbRtuSlaveDev[i].rdHoldingRegs.buffer = &usRegHoldingValue[0];
    -// //
    -// // mbRtuSlaveDev[i].wrSingleReg.use = FALSE;
    -// // mbRtuSlaveDev[i].wrSingleReg.startAddr = 0;
    -// // mbRtuSlaveDev[i].wrSingleReg.buffer = &usRegHoldingValue[0];
    -// //
    -// // mbRtuSlaveDev[i].wrMultiRegs.use = FALSE;
    -// // mbRtuSlaveDev[i].wrMultiRegs.startAddr = 0;
    -// // mbRtuSlaveDev[i].wrMultiRegs.length = 0;
    -// // mbRtuSlaveDev[i].wrMultiRegs.buffer = &usRegHoldingValue[0];
    -// // }
    -//
    -//
    -// RTU_GPIO_dev = gpio_open(111);
    -// if (!RTU_GPIO_dev) {
    -// fprintf(stderr, "Error while initializing RTU GPIO.\n");
    -// return 1;
    -// }
    -// if((err = rt_mutex_create (&RTU_BuffMutex, "RTU_BuffMutex")))
    -// return err;
    -//
    -// if((err = rt_task_create(&RTU_UART_task, "RTU_UART_task", 0, 50, T_JOINABLE)))
    -// return err;
    -//
    -// mbmrtu_init();
    -//
    -// if((err = rt_task_create(&RTU_task, "RTU_task", 0, 50, T_JOINABLE)))
    -// return err;
    -//
    -// if(rt_task_start(&RTU_task, &mbmrtu_BusUpdate, NULL))
    -// return err;
    +int err;
    +
    +bzero(&onBoardDev , sizeof(onBoardDev ));
    +bzero(&usRegInputValue , sizeof(usRegInputValue ));
    +bzero(&usRegHoldingValue , sizeof(usRegHoldingValue ));
    +bzero(&ubCoilValue , sizeof(ubCoilValue ));
    +bzero(&ubRegDiscreteValue, sizeof(ubRegDiscreteValue));
    +bzero(&mbRtuSlaveDev , sizeof(mbRtuSlaveDev ));
    +bzero(&mbRtuDevTim , sizeof(mbRtuDevTim ));
    +
    +%(init_code)s
    +
    +printf("from lpcm %%d\n", mbRtuSlaveDev[0].slaveAddr);
    +
    +RTU_GPIO_dev = gpio_open(111);
    +if (!RTU_GPIO_dev) {
    + fprintf(stderr, "Error while initializing RTU GPIO.\n");
    + return 1;
    +}
    +if((err = rt_mutex_create (&RTU_BuffMutex, "RTU_BuffMutex")))
    + return err;
    +
    +if((err = rt_task_create(&RTU_UART_task, "RTU_UART_task", 0, 50, T_JOINABLE)))
    + return err;
    +
    +mbmrtu_init();
    +
    +if((err = rt_task_create(&RTU_task, "RTU_task", 0, 50, T_JOINABLE)))
    + return err;
    +
    +if(rt_task_start(&RTU_task, mbmrtu_BusUpdate_proc, NULL))
    + return err;
    --- a/LPCBus/MC9_OnBoard_publish.c Mon Jun 15 15:04:14 2015 +0200
    +++ b/LPCBus/MC9_OnBoard_publish.c Fri Jun 19 14:21:05 2015 +0200
    @@ -1,9 +1,7 @@
    -// LockMBRTUBuffer()
    +
    +%(publish_code)s
    -// %(publish_code)s
    -/* STUB CODE XXX */
    -// setWord16(&usRegHoldingValue[0],*__MW4_1_1_0);
    -// setBit(&ubRegDiscreteValue[0],0,*__QX4_1_2_0);
    -// setBit(&ubCoilValue[0],0,*__MX4_1_0_0);
    -// setWord16(&usRegInputValue[0],*__QW4_1_3_0);
    -// setBit(&ubRegDiscreteValue[0],1,*__QX4_1_2_1);
    +UnLockMBRTUBuffer();
    +
    +/* wakeup task */
    +rt_task_unblock(&RTU_task);
    --- a/LPCBus/MC9_OnBoard_retrieve.c Mon Jun 15 15:04:14 2015 +0200
    +++ b/LPCBus/MC9_OnBoard_retrieve.c Fri Jun 19 14:21:05 2015 +0200
    @@ -1,10 +1,4 @@
    -// %(retrieve_code)s
    +LockMBRTUBuffer();
    -/*
    -*__MW4_1_1_0=getWord16(&usRegHoldingValue[0]);
    -*__MX4_1_0_0=getBit(&ubCoilValue[0],0);
    -*/
    +%(retrieve_code)s
    -// UnLockMBRTUBuffer();
    -
    -