linuxcnc-hal-sys 0.1.5

Generated, unsafe Rust bindings to the LinuxCNC HAL submodule
Documentation 
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//    Copyright 2005-2008, various authors
//
//    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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

#ifndef _PROTOCOL_MODBUS_MASTER_H
#define _PROTOCOL_MODBUS_MASTER_H

/* To set/reset single coil with function 5 */
#define MODBUS_BIT_OFF 0x0000
#define MODBUS_BIT_ON 0xFF00

#define LGT_MODBUS_IP_HEADER 7

/* Function codes list */
#define MODBUS_FC_READ_COILS 1
#define MODBUS_FC_READ_INPUTS 2
#define MODBUS_FC_READ_HOLD_REGS 3
#define MODBUS_FC_READ_INPUT_REGS 4
#define MODBUS_FC_FORCE_COIL 5
#define MODBUS_FC_WRITE_REG 6
#define MODBUS_FC_FORCE_COILS 15
#define MODBUS_FC_WRITE_REGS 16
#define MODBUS_FC_DIAGNOSTICS 8
#define MODBUS_FC_EXCEPTION_BIT 0x80

/* Exceptions list */
#define MODBUS_ILLEGAL_FUNCTION 0x01 
#define MODBUS_ILLEGAL_DATA_ADDRESS 0x02 
#define MODBUS_ILLEGAL_DATA_VALUE 0x03 
#define MODBUS_SLAVE_DEVICE_FAILURE 0x04 
#define MODBUS_SLAVE_DEVICE_BUSY 0x06 
#define MODBUS_NEGATIVE_ACKNOWLEDGE 0x07 
#define MODBUS_MEMORY_PARITY_ERROR 0x08 


// Request type
#define MODBUS_REQ_INPUTS_READ 0
#define MODBUS_REQ_COILS_WRITE 1
#define MODBUS_REQ_REGISTERS_READ 2
#define MODBUS_REQ_REGISTERS_WRITE 3
#define MODBUS_REQ_COILS_READ 4
#define MODBUS_REQ_HOLD_READ 5
#define MODBUS_REQ_DIAGNOSTICS 6

// mapping variable type
#define B_VAR   0
#define Q_VAR   1
#define I_VAR   2
#define W_VAR   0
#define QW_VAR  1
#define IW_VAR  2

#define LGT_SLAVE_ADR 25

#define NBR_MODBUS_MASTER_REQ 16/*50: problem with GTK config window: adding vertical scroll else required*/

typedef struct StrModbusMasterReq
{
	/* IP address or IP:port or slave number for serial */
	/* if '\0' => req not defined */
	char SlaveAdr[ LGT_SLAVE_ADR ]; 
	char TypeReq; /* see MODBUS_REQ_ list */
	int FirstModbusElement;
	int NbrModbusElements;
	char LogicInverted;
	int OffsetVarMapped;
}StrModbusMasterReq;
 
void InitModbusMasterBeforeReadConf( void );
void PrepareModbusMaster( void );
void InitModbusMasterParams( void );
int GetModbusResponseLenghtToReceive( void );
int ModbusMasterAsk( unsigned char * SlaveAddressIP, unsigned char * Question );
char TreatModbusMasterResponse( unsigned char * Response, int LgtResponse );

void SetVarFromModbus( StrModbusMasterReq * ModbusReq, int ModbusNum, int Value );
int GetVarForModbus( StrModbusMasterReq * ModbusReq, int ModbusNum );
#endif