libmodbus-xenomai
Description
libmodbus-xenomai is a free software library to send receive data with a device which respects the Modbus protocol
Software Architecture
Software architecture description Unit-test-server and unit-test-client were tested based on Kunpeng920.
Installation
-
Xenomai build
./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw make -j`nproc` sudo make install echo ' ### Xenomai export XENOMAI_ROOT_DIR=/usr/xenomai export XENOMAI_PATH=/usr/xenomai export PATH=$PATH:$XENOMAI_PATH/bin:$XENOMAI_PATH/sbin export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$XENOMAI_PATH/lib/pkgconfig export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$XENOMAI_PATH/lib export OROCOS_TARGET=xenomai ' >> ~/.xenomai_rc echo 'source ~/.xenomai_rc' >> ~/.bashrc source ~/.bashrc -
Xenomai setting
In xenomai add lo installation directory, the default directory: / usr/xenomai/lib/xenomai/bootstrap. Lo, file content is as follows:
# libbootstrap_pic_la-bootstrap.lo - a libtool object file # Generated by libtool (GNU libtool) 2.4.6 # # Please DO NOT delete this file! # It is necessary for linking the library. # Name of the PIC object. pic_object='bootstrap-pic.o' # Name of the non-PIC object non_pic_object='bootstrap.o' -
libmodbus build
apt install autoconf automake libtool ./autogen.sh ./configure --with-gnu-ld --enable-static=yes ac_cv_have_decl_TIOCM_RTS=no make && make install -
Test & Result
Connect the kunpeng920 machine and test machine (virtual machine) with serial port, and then run the unit-test-server and unit-test-client alternately on the test machine and test machine respectively. Unit-test-server and unit-test-client are complete unit test suites. These programs are necessary to test the behavior of the Modbus protocol implementation and libmodbus.
test machine kunpeng920 machine Architecture x86 WMware kunpeng920 arm System OpenEuler Centos8 Kernel 4.19.90 4.19.206 Test tools libmodbus unit test tools (unit-test-server、unit-test-client) libmodbus unit test tools(unit-test-server、unit-test-client) Client run unit-test-server run unit-test-client，ALL PASS Server run unit-test-client，ALL PASS run unit-test-server Client Test results
Run unit-test-client at kunpeng920 machine，run unit-test-server at test machine (virtual machine)，The test results are as follows:
unit-test-server
root@localhost:~/libmodbus-3.1.6/tests/.libs# ./unit-test-server rtu Opening /dev/ttyUSB0 at 115200 bauds (N, 8, 1) Waiting for an indication... <11><05><01><30><FF><00><8F><59> [11][05][01][30][FF][00][8F][59] Waiting for an indication... <11><01><01><30><00><01><FE><A9> [11][01][01][01][94][88] Waiting for an indication... <11><0F><01><30><00><25><05><CD><6B><B2><0E><1B><CC><C1> [11][0F][01][30][00][25][97][73] Waiting for an indication... <11><01><01><30><00><25><FE><B2> [11][01][05][CD][6B][B2][0E][1B][45][E6] ... [11][8F][03][05][F4] Waiting for an indication... <11><42><00><00> ERROR CRC received 0x0 != CRC calculated 0x8DD1 Unknown Modbus function code: 0x42 Bytes flushed (0) [11][C2][01][B1][65] Waiting for an indication...unit-test-client
root@localhost:~/libmodbus-3.1.6/tests/.libs# ./unit-test-client rtu Opening /dev/rtdm/rtser0 at 115200 bauds (N, 8, 1) ** UNIT TESTING ** 1/1 No response timeout modification on connect: OK TEST WRITE/READ: [11][05][01][30][FF][00][8F][59] Waiting for a confirmation... <11><05><01><30><FF><00><8F><59> ###### check_confirmation .... finish 1/2 modbus_write_bit: OK [11][01][01][30][00][01][FE][A9] Waiting for a confirmation... <11><01><01><01><94><88> ###### check_confirmation .... finish 2/2 modbus_read_bits: OK ... OK [11][42][00][00][00][00][7B][55] Waiting for a confirmation... <11><C2><01><B1><65> Return an exception on unknown function code: OK TEST INVALID INITIALIZATION: The device string is empty OK The baud rate value must not be zero OK The service string is empty OK ALL TESTS PASS WITH SUCCESS.Server Test results
Run unit-test-server at kunpeng920 machine，run unit-test-client at test machine (virtual machine)，The test results are as follows:
unit-test-server
root@localhost:~/libmodbus-3.1.6/tests/.libs# ./unit-test-server rtu Opening /dev/rtdm/rtser0 at 115200 bauds (N, 8, 1) loop test start ... Waiting for an indication... <11><05><01><30><FF><00><8F><59> [11][05][01][30][FF][00][8F][59] Waiting for an indication... <11><01><01><30><00><01><FE><A9> [11][01][01][01][94][88] Waiting for an indication... <11><0F><01><30><00><25><05><CD><6B><B2><0E><1B><CC><C1> [11][0F][01][30][00][25][97][73] Waiting for an indication... <11><01><01><30><00><25><FE><B2> [11][01][05][CD][6B][B2][0E][1B][45][E6] Waiting for an indication... <11><02><01><C4><00><16><BB><55> [11][02][03][AC][DB][35][20][18] Waiting for an indication... <11><06><01><60><12><34><87><CF> [11][06][01][60][12][34][87][CF] ... Bytes flushed (0) [11][8F][03][05][F4] Waiting for an indication... <11><42><00><00> ERROR CRC received 0x0 != CRC calculated 0x8DD1 Unknown Modbus function code: 0x42 Bytes flushed (0) [11][C2][01][B1][65] Waiting for an indication...unit-test-client
root@localhost:~/libmodbus-3.1.6/tests/.libs# ./unit-test-client rtu Opening /dev/ttyUSB0 at 115200 bauds (N, 8, 1) ** UNIT TESTING ** 1/1 No response timeout modification on connect: OK TEST WRITE/READ: [11][05][01][30][FF][00][8F][59] Waiting for a confirmation... <11><05><01><30><FF><00><8F><59> 1/2 modbus_write_bit: OK [11][01][01][30][00][01][FE][A9] Waiting for a confirmation... <11><01><01><01><94><88> 2/2 modbus_read_bits: OK ... OK [11][42][00][00][00][00][7B][55] Waiting for a confirmation... <11><C2><01><B1><65> Return an exception on unknown function code: OK TEST INVALID INITIALIZATION: The device string is empty OK The baud rate value must not be zero OK The service string is empty OK ALL TESTS PASS WITH SUCCESS.
Instructions
Xenomai-based libmodbus should be used with the Xenomai RTDM driver!!