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osmo-modbus
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Pau Espin 2020-11-28 17:21:13 +01:00
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*.o
*.a
*.lo
*.la
.deps
Makefile
Makefile.in
openbsc.pc
*.*~
*.sw?
#configure
aclocal.m4
autom4te.cache/
compile
config.log
config.status
configure
configure.lineno
depcomp
install-sh
missing
stamp-h1
# libtool
ltmain.sh
libtool
.libs
# git-version-gen magic
.tarball-version
.version
# apps and app data
utils/modbus_rtu_master
*.pc
config.*

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GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
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0. This License applies to any program or other work which contains
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The hypothetical commands `show w' and `show c' should show the appropriate
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AUTOMAKE_OPTIONS = foreign dist-bzip2 1.6
AM_CPPFLAGS = $(all_includes) -I$(top_srcdir)/include
SUBDIRS = include src utils
pkgconfigdir = $(libdir)/pkgconfig
pkgconfig_DATA = libosmo-modbus.pc
EXTRA_DIST = \
.version \
git-version-gen \
$(NULL)
@RELMAKE@
BUILT_SOURCES = $(top_srcdir)/.version
$(top_srcdir)/.version:
echo $(VERSION) > $@-t && mv $@-t $@
dist-hook:
echo $(VERSION) > $(distdir)/.tarball-version

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libosmo-modbus - Osmocom Modbus interface library
=================================================
This repository contains a C-Language library providing an implementation and interface to manage a Modbus node in a Modbus bus.
This library relies heavily on [libosmocore](https://osmocom.org/) library and it is aimed at being used by applications using that same library.
The Modbus specs can be found here: https://www.modbus.org/specs.php
Currently supported features include:
* Master and Slave roles
* RTU backend
TODO:
* Implement ASCII backend
* Implement TCP backend
* Implement missing unicast messages/responses
* Implement sending exceptions (both to protocol peer and to the upper layer)
* Implement broadcast messages
* Add a sniffer util to sniff traffic and store it in a pcap file using libpcap
* Add a register storage using a rb_tree?
* Add unit tests

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dnl Process this file with autoconf to produce a configure script
AC_INIT([osmo-modbus],
m4_esyscmd([./git-version-gen .tarball-version]),
[openbsc@lists.osmocom.org])
dnl *This* is the root dir, even if an install-sh exists in ../ or ../../
AC_CONFIG_AUX_DIR([.])
AM_INIT_AUTOMAKE([dist-bzip2])
AC_CONFIG_TESTDIR(tests)
dnl kernel style compile messages
m4_ifdef([AM_SILENT_RULES], [AM_SILENT_RULES([yes])])
dnl include release helper
RELMAKE='-include osmo-release.mk'
AC_SUBST([RELMAKE])
dnl checks for programs
AC_PROG_MAKE_SET
AC_PROG_CC
AC_PROG_INSTALL
LT_INIT
dnl patching ${archive_cmds} to affect generation of file "libtool" to fix linking with clang
AS_CASE(["$LD"],[*clang*],
[AS_CASE(["${host_os}"],
[*linux*],[archive_cmds='$CC -shared $pic_flag $libobjs $deplibs $compiler_flags $wl-soname $wl$soname -o $lib'])])
dnl check for pkg-config (explained in detail in libosmocore/configure.ac)
AC_PATH_PROG(PKG_CONFIG_INSTALLED, pkg-config, no)
if test "x$PKG_CONFIG_INSTALLED" = "xno"; then
AC_MSG_WARN([You need to install pkg-config])
fi
PKG_PROG_PKG_CONFIG([0.20])
PKG_CHECK_MODULES(LIBOSMOCORE, libosmocore >= 1.4.0)
PKG_CHECK_MODULES(LIBOSMOVTY, libosmovty >= 1.4.0)
AC_ARG_ENABLE(sanitize,
[AS_HELP_STRING(
[--enable-sanitize],
[Compile with address sanitizer enabled],
)],
[sanitize=$enableval], [sanitize="no"])
if test x"$sanitize" = x"yes"
then
CFLAGS="$CFLAGS -fsanitize=address -fsanitize=undefined"
CPPFLAGS="$CPPFLAGS -fsanitize=address -fsanitize=undefined"
fi
AC_ARG_ENABLE(werror,
[AS_HELP_STRING(
[--enable-werror],
[Turn all compiler warnings into errors, with exceptions:
a) deprecation (allow upstream to mark deprecation without breaking builds);
b) "#warning" pragmas (allow to remind ourselves of errors without breaking builds)
]
)],
[werror=$enableval], [werror="no"])
if test x"$werror" = x"yes"
then
WERROR_FLAGS="-Werror"
WERROR_FLAGS+=" -Wno-error=deprecated -Wno-error=deprecated-declarations"
WERROR_FLAGS+=" -Wno-error=cpp" # "#warning"
CFLAGS="$CFLAGS $WERROR_FLAGS"
CPPFLAGS="$CPPFLAGS $WERROR_FLAGS"
fi
# The following test is taken from WebKit's webkit.m4
saved_CFLAGS="$CFLAGS"
CFLAGS="$CFLAGS -fvisibility=hidden "
AC_MSG_CHECKING([if ${CC} supports -fvisibility=hidden])
AC_COMPILE_IFELSE([AC_LANG_SOURCE([char foo;])],
[ AC_MSG_RESULT([yes])
SYMBOL_VISIBILITY="-fvisibility=hidden"],
AC_MSG_RESULT([no]))
CFLAGS="$saved_CFLAGS"
AC_SUBST(SYMBOL_VISIBILITY)
CFLAGS="$CFLAGS -Wall"
CPPFLAGS="$CPPFLAGS -Wall"
AC_MSG_RESULT([CFLAGS="$CFLAGS"])
AC_MSG_RESULT([CPPFLAGS="$CPPFLAGS"])
AC_OUTPUT(
libosmo-modbus.pc
include/osmocom/Makefile
include/osmocom/modbus/Makefile
include/Makefile
src/Makefile
utils/Makefile
Makefile)

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#!/bin/sh
# Print a version string.
scriptversion=2010-01-28.01
# Copyright (C) 2007-2010 Free Software Foundation, Inc.
#
# 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 3 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, see <http://www.gnu.org/licenses/>.
# This script is derived from GIT-VERSION-GEN from GIT: http://git.or.cz/.
# It may be run two ways:
# - from a git repository in which the "git describe" command below
# produces useful output (thus requiring at least one signed tag)
# - from a non-git-repo directory containing a .tarball-version file, which
# presumes this script is invoked like "./git-version-gen .tarball-version".
# In order to use intra-version strings in your project, you will need two
# separate generated version string files:
#
# .tarball-version - present only in a distribution tarball, and not in
# a checked-out repository. Created with contents that were learned at
# the last time autoconf was run, and used by git-version-gen. Must not
# be present in either $(srcdir) or $(builddir) for git-version-gen to
# give accurate answers during normal development with a checked out tree,
# but must be present in a tarball when there is no version control system.
# Therefore, it cannot be used in any dependencies. GNUmakefile has
# hooks to force a reconfigure at distribution time to get the value
# correct, without penalizing normal development with extra reconfigures.
#
# .version - present in a checked-out repository and in a distribution
# tarball. Usable in dependencies, particularly for files that don't
# want to depend on config.h but do want to track version changes.
# Delete this file prior to any autoconf run where you want to rebuild
# files to pick up a version string change; and leave it stale to
# minimize rebuild time after unrelated changes to configure sources.
#
# It is probably wise to add these two files to .gitignore, so that you
# don't accidentally commit either generated file.
#
# Use the following line in your configure.ac, so that $(VERSION) will
# automatically be up-to-date each time configure is run (and note that
# since configure.ac no longer includes a version string, Makefile rules
# should not depend on configure.ac for version updates).
#
# AC_INIT([GNU project],
# m4_esyscmd([build-aux/git-version-gen .tarball-version]),
# [bug-project@example])
#
# Then use the following lines in your Makefile.am, so that .version
# will be present for dependencies, and so that .tarball-version will
# exist in distribution tarballs.
#
# BUILT_SOURCES = $(top_srcdir)/.version
# $(top_srcdir)/.version:
# echo $(VERSION) > $@-t && mv $@-t $@
# dist-hook:
# echo $(VERSION) > $(distdir)/.tarball-version
case $# in
1) ;;
*) echo 1>&2 "Usage: $0 \$srcdir/.tarball-version"; exit 1;;
esac
tarball_version_file=$1
nl='
'
# First see if there is a tarball-only version file.
# then try "git describe", then default.
if test -f $tarball_version_file
then
v=`cat $tarball_version_file` || exit 1
case $v in
*$nl*) v= ;; # reject multi-line output
[0-9]*) ;;
*) v= ;;
esac
test -z "$v" \
&& echo "$0: WARNING: $tarball_version_file seems to be damaged" 1>&2
fi
if test -n "$v"
then
: # use $v
elif
v=`git describe --abbrev=4 --match='v*' HEAD 2>/dev/null \
|| git describe --abbrev=4 HEAD 2>/dev/null` \
&& case $v in
[0-9]*) ;;
v[0-9]*) ;;
*) (exit 1) ;;
esac
then
# Is this a new git that lists number of commits since the last
# tag or the previous older version that did not?
# Newer: v6.10-77-g0f8faeb
# Older: v6.10-g0f8faeb
case $v in
*-*-*) : git describe is okay three part flavor ;;
*-*)
: git describe is older two part flavor
# Recreate the number of commits and rewrite such that the
# result is the same as if we were using the newer version
# of git describe.
vtag=`echo "$v" | sed 's/-.*//'`
numcommits=`git rev-list "$vtag"..HEAD | wc -l`
v=`echo "$v" | sed "s/\(.*\)-\(.*\)/\1-$numcommits-\2/"`;
;;
esac
# Change the first '-' to a '.', so version-comparing tools work properly.
# Remove the "g" in git describe's output string, to save a byte.
v=`echo "$v" | sed 's/-/./;s/\(.*\)-g/\1-/'`;
else
v=UNKNOWN
fi
v=`echo "$v" |sed 's/^v//'`
# Don't declare a version "dirty" merely because a time stamp has changed.
git status > /dev/null 2>&1
dirty=`sh -c 'git diff-index --name-only HEAD' 2>/dev/null` || dirty=
case "$dirty" in
'') ;;
*) # Append the suffix only if there isn't one already.
case $v in
*-dirty) ;;
*) v="$v-dirty" ;;
esac ;;
esac
# Omit the trailing newline, so that m4_esyscmd can use the result directly.
echo "$v" | tr -d '\012'
# Local variables:
# eval: (add-hook 'write-file-hooks 'time-stamp)
# time-stamp-start: "scriptversion="
# time-stamp-format: "%:y-%02m-%02d.%02H"
# time-stamp-end: "$"
# End:

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SUBDIRS = osmocom

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include/osmocom/Makefile.am Normal file
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SUBDIRS = modbus

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include/osmocom/modbus/Makefile.am Normal file
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modbus_HEADERS = \
modbus.h \
modbus_conn.h \
modbus_prim.h \
modbus_rtu.h \
$(NULL)
modbusdir = $(includedir)/osmocom/modbus

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/*! \file modbus.h
* Osmocom modbus */
/*
* Copyright (C) 2020 Pau Espin Pedrol <pespin@espeweb.net>
*
* All Rights Reserved
*
* SPDX-License-Identifier: GPL-2.0+
*
* 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.
*/
#pragma once
#include <osmocom/core/logging.h>
#include <osmocom/modbus/modbus_prim.h>
#include <osmocom/modbus/modbus_conn.h>
#include <osmocom/modbus/modbus_rtu.h>
extern int DLMODBUS;
extern int DLMODBUS_RTU;
/* Overwrite with whatever number is wanted by the APP */
unsigned int osmo_modbus_set_logging_category_offset(int offset);
enum osmo_modbus_function_code {
OSMO_MODBUS_FUNC_READ_MULT_HOLD_REG = 0x03,
};

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/*! \file modbus_conn.h
* Osmocom modbus */
/*
* Copyright (C) 2020 Pau Espin Pedrol <pespin@espeweb.net>
*
* All Rights Reserved
*
* SPDX-License-Identifier: GPL-2.0+
*
* 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.
*/
#pragma once
#include <osmocom/core/select.h>
#include <osmocom/modbus/modbus_prim.h>
struct osmo_modbus_conn_rtu;
enum osmo_modbus_proto_type {
OSMO_MODBUS_PROTO_RTU,
};
enum osmo_modbus_conn_role {
OSMO_MODBUS_ROLE_MASTER,
OSMO_MODBUS_ROLE_SLAVE,
};
enum osmo_modbus_conn_timeout {
OSMO_MODBUS_TO_TURNAROUND = 1,
OSMO_MODBUS_TO_NORESPONSE = 2,
};
struct osmo_modbus_conn;
typedef int (*osmo_modbus_prim_cb)(struct osmo_modbus_conn *conn, struct osmo_modbus_prim *prim, void *ctx);
struct osmo_modbus_conn* osmo_modbus_conn_alloc(void *tall_ctx,
enum osmo_modbus_conn_role role,
enum osmo_modbus_proto_type type);
void osmo_modbus_conn_free(struct osmo_modbus_conn* conn);
int osmo_modbus_conn_connect(struct osmo_modbus_conn* conn);
bool osmo_modbus_conn_is_connected(struct osmo_modbus_conn* conn);
int osmo_modbus_conn_set_timeout(struct osmo_modbus_conn* conn,
enum osmo_modbus_conn_timeout to_type,
unsigned long val);
unsigned long osmo_modbus_conn_get_timeout(const struct osmo_modbus_conn* conn,
enum osmo_modbus_conn_timeout to_type);
int osmo_modbus_conn_set_address(struct osmo_modbus_conn* conn, uint16_t address);
uint16_t osmo_modbus_conn_get_address(const struct osmo_modbus_conn* conn);
void osmo_modbus_conn_set_prim_cb(struct osmo_modbus_conn* conn,
osmo_modbus_prim_cb prim_cb, void *ctx);
int osmo_modbus_conn_submit_prim(struct osmo_modbus_conn* conn,
struct osmo_modbus_prim *prim);
int osmo_modbus_conn_set_monitor_mode(struct osmo_modbus_conn* conn, bool enable);
struct osmo_modbus_conn_rtu *osmo_modbus_conn_get_rtu(struct osmo_modbus_conn *conn);

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/*! \file modbus_prim.h
* Osmocom modbus primitives */
/*
* Copyright (C) 2020 Pau Espin Pedrol <pespin@espeweb.net>
*
* All Rights Reserved
*
* SPDX-License-Identifier: GPL-2.0+
*
* 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.
*/
#pragma once
#include <osmocom/core/prim.h>
/*! \brief Modbus primitives */
enum osmo_modbus_prim_type {
OSMO_MODBUS_PRIM_RESPONSE_TIMEOUT,
OSMO_MODBUS_PRIM_N_MULT_HOLD_REG,
};
extern const struct value_string osmo_modbus_prim_type_names[];
/* OSMO_MODBUS_PRIM_N_MULT_HOLD_REG */
struct osmo_modbus_read_mult_hold_reg_req_param {
uint16_t first_reg;
uint16_t num_reg;
/* user data */
};
/* OSMO_MODBUS_PRIM_N_MULT_HOLD_RESP */
struct osmo_modbus_read_mult_hold_reg_resp_param {
uint16_t num_reg;
uint16_t registers[125];
/* user data */
};
struct osmo_modbus_prim {
struct osmo_prim_hdr oph;
uint16_t address;
union {
struct osmo_modbus_read_mult_hold_reg_req_param read_mult_hold_reg_req;
struct osmo_modbus_read_mult_hold_reg_resp_param read_mult_hold_reg_resp;
} u;
};
struct osmo_modbus_prim *osmo_modbus_makeprim_timeout_resp(uint16_t address);
struct osmo_modbus_prim *osmo_modbus_makeprim_mult_hold_reg_req(uint16_t address, uint16_t first_reg, uint16_t num_reg);
struct osmo_modbus_prim *osmo_modbus_makeprim_mult_hold_reg_resp(uint16_t address, uint8_t num_reg, uint16_t *registers);

40
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/*! \file modbus_rtu.h
* Osmocom modbus */
/*
* Copyright (C) 2020 Pau Espin Pedrol <pespin@espeweb.net>
*
* All Rights Reserved
*
* SPDX-License-Identifier: GPL-2.0+
*
* 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.
*/
#pragma once
#include <osmocom/core/select.h>
#include <osmocom/core/fsm.h>
#include <osmocom/core/tdef.h>
#include <osmocom/modbus/modbus.h>
struct osmo_modbus_conn_rtu;
struct osmo_modbus_conn_rtu* osmo_modbus_conn_rtu_alloc(struct osmo_modbus_conn* conn);
int osmo_modbus_conn_rtu_set_device(struct osmo_modbus_conn_rtu* rtu, const char* serial_dev);
const char *osmo_modbus_conn_rtu_get_device(const struct osmo_modbus_conn_rtu* rtu);
int osmo_modbus_conn_rtu_set_baudrate(struct osmo_modbus_conn_rtu* rtu, unsigned baudrate);
unsigned osmo_modbus_conn_rtu_get_baudrate(const struct osmo_modbus_conn_rtu* rtu);

10
libosmo-modbus.pc.in Normal file
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prefix=@prefix@
exec_prefix=@exec_prefix@
libdir=@libdir@
includedir=@includedir@
Name: OsmoModbus Lib
Description: OsmoModbus Lib
Version: @VERSION@
Libs: -L${libdir} -losmo-modbus
Cflags: -I${includedir}/

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AM_CPPFLAGS = $(all_includes) -I$(top_srcdir)/include -I$(top_builddir)
AM_CFLAGS=-Wall $(LIBOSMOCORE_CFLAGS)
noinst_HEADERS = \
modbus_internal.h \
conn_fsm.h \
rtu_transmit_fsm.h \
rtu_internal.h \
$(NULL)
lib_LTLIBRARIES = libosmo-modbus.la
# This is _NOT_ the library release version, it's an API version.
# Please read Chapter 6 "Library interface versions" of the libtool
# documentation before making any modification
LIBVERSION=0:0:0
libosmo_modbus_la_SOURCES = \
conn.c \
conn_master_fsm.c \
conn_slave_fsm.c \
conn_rtu.c \
rtu_transmit_fsm.c \
prim.c \
$(NULL)
libosmo_modbus_la_LDFLAGS = -version-info $(LIBVERSION) -no-undefined -export-symbols-regex '^(osmo_|DLMODBUS)'
libosmo_modbus_la_LIBADD = $(LIBOSMOCORE_LIBS)

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/*! \file conn.c
* modbus connection */
/*
* Copyright (C) 2020 Pau Espin Pedrol <pespin@espeweb.net>
*
* All Rights Reserved
*
* SPDX-License-Identifier: GPL-2.0+
*
* 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.
*/
#include <errno.h>
#include <inttypes.h>
#include <osmocom/core/talloc.h>
#include <osmocom/core/utils.h>
#include <osmocom/core/logging.h>
#include <osmocom/modbus/modbus.h>
#include <osmocom/modbus/modbus_prim.h>
#include <osmocom/modbus/modbus_rtu.h>
#include "modbus_internal.h"
#include "conn_fsm.h"
#define LOGPCONN(conn, subsys, level, fmt, args ...) \
LOGP(subsys, level, "(addr=%u) " fmt, (conn)->address, ## args)
int DLMODBUS = DLMODBUS_OFFSET;
int DLMODBUS_RTU = DLMODBUS_RTU_OFFSET;
unsigned int osmo_modbus_set_logging_category_offset(int offset)
{
DLMODBUS = offset + DLMODBUS_OFFSET;
DLMODBUS_RTU = offset + DLMODBUS_RTU_OFFSET;
return 2;
}
struct osmo_tdef g_conn_tdefs[] = {
{ .T=OSMO_MODBUS_TO_TURNAROUND, .default_val=100, .unit = OSMO_TDEF_MS, .desc="Turnaround Delay Expiration Timeout" },
{ .T=OSMO_MODBUS_TO_NORESPONSE, .default_val=200, .unit = OSMO_TDEF_MS, .desc="Response Timeout" },
{}
};
static void update_fi_name(struct osmo_modbus_conn* conn)
{
if (conn->role == OSMO_MODBUS_ROLE_SLAVE) {
osmo_fsm_inst_update_id_f_sanitize(conn->fi, '-', "addr-%" PRIu16,
conn->address);
}
}
struct osmo_modbus_conn* osmo_modbus_conn_alloc(void *tall_ctx,
enum osmo_modbus_conn_role role,
enum osmo_modbus_proto_type type)
{
struct osmo_modbus_conn* conn = talloc_zero(tall_ctx, struct osmo_modbus_conn);
conn->role = role;
conn->proto_type = type;
INIT_LLIST_HEAD(&conn->msg_queue);
switch (type) {
case OSMO_MODBUS_PROTO_RTU:
conn->proto = (void *)osmo_modbus_conn_rtu_alloc(conn);
break;
default:
goto err;
}
if (!conn->proto)
goto err;
conn->T_defs = talloc_zero_size(conn, sizeof(g_conn_tdefs));
memcpy(conn->T_defs, g_conn_tdefs, sizeof(g_conn_tdefs));
osmo_tdefs_reset(conn->T_defs);
if (conn->role == OSMO_MODBUS_ROLE_MASTER) {
conn->address = 0x00;
conn_master_fsm.log_subsys = DLMODBUS; /* Update after app set the correct value */
conn->fi = osmo_fsm_inst_alloc(&conn_master_fsm, conn, conn, LOGL_INFO, NULL);
} else {
conn->address = 0x01;
conn_master_fsm.log_subsys = DLMODBUS; /* Update after app set the correct value */
conn->fi = osmo_fsm_inst_alloc(&conn_slave_fsm, conn, conn, LOGL_INFO, NULL);
osmo_fsm_inst_update_id_f_sanitize(conn->fi, '-', "addr-%" PRIu16,
conn->address);
}
return conn;
err:
talloc_free(conn);
return NULL;
}
void osmo_modbus_conn_free(struct osmo_modbus_conn* conn)
{
if (conn->proto_ops.free)
conn->proto_ops.free(conn);
conn->proto = NULL;
osmo_fsm_inst_free(conn->fi);
conn->fi = NULL;
while (!llist_empty(&conn->msg_queue)) {
struct msgb *msg = msgb_dequeue(&conn->msg_queue);
msgb_free(msg);
}
talloc_free(conn);
}
int osmo_modbus_conn_connect(struct osmo_modbus_conn* conn)
{
LOGPCONN(conn, DLMODBUS, LOGL_INFO, "Connecting...\n");
bool connected = false;
int rc;
rc = osmo_fsm_inst_dispatch(conn->fi, CONN_EV_CONNECT, &connected);
if (rc)
return rc;
return connected ? 0 : -ENOTCONN;
}
bool osmo_modbus_conn_is_connected(struct osmo_modbus_conn* conn)
{
LOGPCONN(conn, DLMODBUS, LOGL_INFO, "Connecting...\n");
if ((conn->role == OSMO_MODBUS_ROLE_MASTER && conn->fi->state == CONN_MASTER_ST_DISCONNECTED) ||
(conn->role == OSMO_MODBUS_ROLE_SLAVE && conn->fi->state == CONN_SLAVE_ST_DISCONNECTED))
return false;
return conn->proto_ops.is_connected(conn);
}
int osmo_modbus_conn_set_address(struct osmo_modbus_conn* conn, uint16_t address)
{
/*TODO: for RTU it's only 1 byte, check that */
conn->address = address;
update_fi_name(conn);
return 0;
}
uint16_t osmo_modbus_conn_get_address(const struct osmo_modbus_conn* conn)
{
return conn->address;
}
int osmo_modbus_conn_set_timeout(struct osmo_modbus_conn* conn,
enum osmo_modbus_conn_timeout to_type,
unsigned long val)
{
return osmo_tdef_set(conn->T_defs, to_type, val, OSMO_TDEF_MS);
}
unsigned long osmo_modbus_conn_get_timeout(const struct osmo_modbus_conn* conn,
enum osmo_modbus_conn_timeout to_type)
{
return osmo_tdef_get(conn->T_defs, to_type, OSMO_TDEF_MS, (unsigned long)-1);
}
void osmo_modbus_conn_set_prim_cb(struct osmo_modbus_conn* conn,
osmo_modbus_prim_cb prim_cb, void *ctx)
{
conn->prim_cb = prim_cb;
conn->prim_cb_ctx = ctx;
}
int osmo_modbus_conn_submit_prim(struct osmo_modbus_conn* conn,
struct osmo_modbus_prim *prim)
{
int rc;
LOGPCONN(conn, DLMODBUS, LOGL_INFO, "Submitting prim operation '%s' on primitive '%s'\n",
get_value_string(osmo_prim_op_names, prim->oph.operation),
get_value_string(osmo_modbus_prim_type_names, prim->oph.primitive));
if ((conn->role == OSMO_MODBUS_ROLE_MASTER && prim->oph.operation != PRIM_OP_REQUEST) ||
(conn->role == OSMO_MODBUS_ROLE_SLAVE && prim->oph.operation != PRIM_OP_RESPONSE)) {
LOGPCONN(conn, DLMODBUS, LOGL_INFO, "Primitive %s not possible in role %d\n",
get_value_string(osmo_prim_op_names, prim->oph.operation), conn->role);
msgb_free(prim->oph.msg);
return -EINVAL;
}
msgb_enqueue(&conn->msg_queue, prim->oph.msg);
rc = osmo_fsm_inst_dispatch(conn->fi, CONN_EV_SUBMIT_PRIM, NULL);
return rc;
}
int osmo_modbus_conn_set_monitor_mode(struct osmo_modbus_conn* conn, bool enable)
{
if (conn->role == OSMO_MODBUS_ROLE_MASTER)
return -EINVAL;
conn->slave.monitor = enable;
return 0;
}
struct osmo_modbus_conn_rtu *osmo_modbus_conn_get_rtu(struct osmo_modbus_conn *conn)
{
switch (conn->proto_type) {
case OSMO_MODBUS_PROTO_RTU:
return (struct osmo_modbus_conn_rtu *)conn->proto;
default:
OSMO_ASSERT(0);
}
}
void osmo_modbus_conn_rx_prim(struct osmo_modbus_conn* conn, struct osmo_modbus_prim *prim)
{
int rc;
LOGPCONN(conn, DLMODBUS, LOGL_INFO, "Received primitive operation '%s' on primitive '%s' on addr %" PRIu16 "\n",
get_value_string(osmo_prim_op_names, prim->oph.operation),
get_value_string(osmo_modbus_prim_type_names, prim->oph.primitive),
prim->address);
rc = osmo_fsm_inst_dispatch(conn->fi, CONN_EV_RECV_PRIM, prim);
if (rc) {
msgb_free(prim->oph.msg);
}
}

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/* Figure 7: Master state diagram */
#pragma once
enum conn_master_state {
CONN_MASTER_ST_DISCONNECTED,
CONN_MASTER_ST_IDLE,
CONN_MASTER_ST_WAIT_TURNAROUND_DELAY,
CONN_MASTER_ST_WAIT_REPLY,
//CONN_MASTER_STPROCESSING_REPLY,
};
enum conn_slave_state {
CONN_SLAVE_ST_DISCONNECTED,
CONN_SLAVE_ST_IDLE,
CONN_SLAVE_ST_CHECK_REQUEST,
};
enum conn_event {
CONN_EV_CONNECT,
CONN_EV_SUBMIT_PRIM,
CONN_EV_RECV_PRIM,
_NUM_CONN_EV,
};
extern struct osmo_fsm conn_master_fsm;
extern struct osmo_fsm conn_slave_fsm;

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/*! \file conn_master_fsm.c
* FSM for "Figure 14: RTU transmission mode state diagram" */
/*
* Copyright (C) 2020 Pau Espin Pedrol <pespin@espeweb.net>
*
* All Rights Reserved
*
* SPDX-License-Identifier: GPL-2.0+
*
* 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.
*/
#include <errno.h>
#include <stdbool.h>
#include <osmocom/core/fsm.h>
#include <osmocom/core/utils.h>
#include <osmocom/core/timer.h>
#include <osmocom/core/logging.h>
#include <osmocom/core/select.h>
#include <osmocom/modbus/modbus.h>
#include "modbus_internal.h"
#include "conn_fsm.h"
#define X(x) (1 << (x))
static const struct value_string conn_master_event_names[] = {
{ CONN_EV_CONNECT, "Connect" },
{ CONN_EV_SUBMIT_PRIM, "SubmitPrim" },
{ CONN_EV_RECV_PRIM, "RxPrim" },
{ 0, NULL }
};
static const struct osmo_tdef_state_timeout conn_master_fsm_timeouts[32] = {
[CONN_MASTER_ST_DISCONNECTED] = {},
[CONN_MASTER_ST_IDLE] = {},
[CONN_MASTER_ST_WAIT_TURNAROUND_DELAY] = { .T = OSMO_MODBUS_TO_TURNAROUND },
[CONN_MASTER_ST_WAIT_REPLY] = { .T = OSMO_MODBUS_TO_NORESPONSE },
};
/* Transition to a state, using the T timer defined in assignment_fsm_timeouts.
* The actual timeout value is in turn obtained from conn->T_defs.
* Assumes local variable fi exists. */
#define conn_master_fsm_state_chg(fi, state) \
osmo_tdef_fsm_inst_state_chg(fi, state, \
conn_master_fsm_timeouts, \
((struct osmo_modbus_conn*)(fi->priv))->T_defs, \
-1)
static void conn_master_fsm_st_disconnected_onenter(struct osmo_fsm_inst *fi, uint32_t prev_state)
{
}
static void conn_master_fsm_st_disconnected(struct osmo_fsm_inst *fi, uint32_t event, void *data)
{
struct osmo_modbus_conn *conn = (struct osmo_modbus_conn*)fi->priv;
bool *connected;
int rc;
switch (event) {
case CONN_EV_CONNECT:
connected = (bool*)data;
if ((rc = conn->proto_ops.connect(conn)) == 0) {
*connected = true;
conn_master_fsm_state_chg(fi, CONN_MASTER_ST_IDLE);
} else {
*connected = false;
}
break;
case CONN_EV_SUBMIT_PRIM:
/* Do nothing, conn enqueued the message */
break;
default:
OSMO_ASSERT(0);
}
}
static void conn_master_fsm_st_idle_onenter(struct osmo_fsm_inst *fi, uint32_t prev_state)
{
struct osmo_modbus_conn *conn = (struct osmo_modbus_conn*)fi->priv;
/* TODO: once we support broadcast messages, check msg and do that transition */
if (!llist_empty(&conn->msg_queue))
conn_master_fsm_state_chg(fi, CONN_MASTER_ST_WAIT_REPLY);
}
static void conn_master_fsm_st_idle(struct osmo_fsm_inst *fi, uint32_t event, void *data)
{
//struct osmo_modbus_conn *conn = (struct osmo_modbus_conn*)fi->priv;
switch (event) {
case CONN_EV_SUBMIT_PRIM:
/* TODO: once we support broadcast messages, check msg and do that transition */
conn_master_fsm_state_chg(fi, CONN_MASTER_ST_WAIT_REPLY);
break;
default:
OSMO_ASSERT(0);
}
}
static void conn_master_fsm_st_wait_turnaround_delay_onenter(struct osmo_fsm_inst *fi, uint32_t prev_state)
{
/* TODO: implement */
}
static void conn_master_fsm_st_wait_turnaround_delay(struct osmo_fsm_inst *fi, uint32_t event, void *data)
{
/* TODO: implement */
}
static void conn_master_fsm_st_wait_reply_onenter(struct osmo_fsm_inst *fi, uint32_t prev_state)
{
struct osmo_modbus_conn *conn = (struct osmo_modbus_conn*)fi->priv;
struct msgb *msg;
struct osmo_modbus_prim *prim;
if (llist_empty(&conn->msg_queue)) {
LOGPFSML(fi, LOGL_INFO, "Write queue is empty!\n");
OSMO_ASSERT(0);
}
msg = msgb_dequeue(&conn->msg_queue);
prim = (struct osmo_modbus_prim *)msgb_data(msg);
conn->master.req_for_addr = prim->address;
conn->proto_ops.tx_prim(conn, prim);
msgb_free(msg);
}
static void conn_master_fsm_st_wait_reply(struct osmo_fsm_inst *fi, uint32_t event, void *data)
{
struct osmo_modbus_conn *conn = (struct osmo_modbus_conn*)fi->priv;
struct osmo_modbus_prim *prim;
switch (event) {
case CONN_EV_SUBMIT_PRIM:
/* Do nothing, conn enqueued the message */
break;
case CONN_EV_RECV_PRIM:
prim = (struct osmo_modbus_prim *)data;
/* TODO: check if addr is for us... */
/* TODO: check if msg received is a reply for our last request... */
if (conn->prim_cb)
conn->prim_cb(conn, prim, conn->prim_cb_ctx);
else
msgb_free(prim->oph.msg);
conn_master_fsm_state_chg(fi, CONN_MASTER_ST_IDLE);
break;
default:
OSMO_ASSERT(0);
}
}
static const struct osmo_fsm_state conn_master_states[] = {
[CONN_MASTER_ST_DISCONNECTED]= {
.in_event_mask = X(CONN_EV_CONNECT) |
X(CONN_EV_SUBMIT_PRIM),
.out_state_mask = X(CONN_MASTER_ST_IDLE),
.name = "DISCONNECTED",
.action = conn_master_fsm_st_disconnected,
.onenter = conn_master_fsm_st_disconnected_onenter,
},
[CONN_MASTER_ST_IDLE] = {
.in_event_mask = X(CONN_EV_SUBMIT_PRIM),
.out_state_mask = X(CONN_MASTER_ST_WAIT_TURNAROUND_DELAY) |
X(CONN_MASTER_ST_WAIT_REPLY),
.name = "IDLE",
.action = conn_master_fsm_st_idle,
.onenter = conn_master_fsm_st_idle_onenter,
},
[CONN_MASTER_ST_WAIT_TURNAROUND_DELAY] = {
.in_event_mask = X(CONN_EV_SUBMIT_PRIM),
.out_state_mask = X(CONN_MASTER_ST_IDLE),
.name = "WAIT_TURNAROUND_DELAY",
.action = conn_master_fsm_st_wait_turnaround_delay,
.onenter = conn_master_fsm_st_wait_turnaround_delay_onenter,
},
[CONN_MASTER_ST_WAIT_REPLY] = {
.in_event_mask = X(CONN_EV_SUBMIT_PRIM) |
X(CONN_EV_RECV_PRIM),
.out_state_mask = X(CONN_MASTER_ST_IDLE),
.name = "WAIT_REPLY",
.action = conn_master_fsm_st_wait_reply,
.onenter = conn_master_fsm_st_wait_reply_onenter,
},
};
static int conn_master_fsm_timer_cb(struct osmo_fsm_inst *fi)
{
struct osmo_modbus_conn *conn = (struct osmo_modbus_conn*)fi->priv;
struct osmo_modbus_prim *prim;
switch (fi->T) {
case OSMO_MODBUS_TO_TURNAROUND:
conn_master_fsm_state_chg(fi, CONN_MASTER_ST_IDLE);
break;
case OSMO_MODBUS_TO_NORESPONSE:
prim = osmo_modbus_makeprim_timeout_resp(conn->master.req_for_addr);
if (conn->prim_cb)
conn->prim_cb(conn, prim, conn->prim_cb_ctx);
else
msgb_free(prim->oph.msg);
conn_master_fsm_state_chg(fi, CONN_MASTER_ST_IDLE);
break;
}
return 0;
}
struct osmo_fsm conn_master_fsm = {
.name = "conn_master",
.states = conn_master_states,
.num_states = ARRAY_SIZE(conn_master_states),
.timer_cb = conn_master_fsm_timer_cb,
.log_subsys = DLMODBUS_OFFSET,
.event_names = conn_master_event_names,
//.cleanup = conn_master_fsm_cleanup,
};
static __attribute__((constructor)) void conn_master_fsm_init(void)
{
OSMO_ASSERT(osmo_fsm_register(&conn_master_fsm) == 0);
}

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/*! \file conn_rtu.c
* modbus connection RTU specifics */
/*
* Copyright (C) 2020 Pau Espin Pedrol <pespin@espeweb.net>
*
* All Rights Reserved
*
* SPDX-License-Identifier: GPL-2.0+
*
* 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.
*/
/* https://www.modbus.org/docs/Modbus_over_serial_line_V1_02.pdf */
#include <errno.h>
#include <fcntl.h>
#include <unistd.h>
#include <inttypes.h>
#include <osmocom/core/serial.h>
#include <osmocom/core/talloc.h>
#include <osmocom/core/utils.h>
#include <osmocom/core/logging.h>
#include <osmocom/core/bits.h>
#include <osmocom/modbus/modbus.h>
#include <osmocom/modbus/modbus_rtu.h>
#include "modbus_internal.h"
#include "rtu_internal.h"
#include "rtu_transmit_fsm.h"
#define RTU_DEFAULT_BAUDRATE 9600
#define LOGPRTU(rtu, subsys, level, fmt, args ...) \
LOGP(subsys, level, "(addr=%" PRIu16 ",dev=%s) " fmt, (rtu)->conn->address, (rtu)->dev_path, ## args)
static struct msgb *modbus_rtu_msgb_alloc(void)
{
return msgb_alloc(MODBUS_MSGB_SIZE, "");
}
struct osmo_tdef g_rtu_tdefs[] = {
{ .T=15, .default_val=1, .unit = OSMO_TDEF_US, .desc="Timeout for RTU transmission T1.5, in microseconds" },
{ .T=35, .default_val=1, .unit = OSMO_TDEF_US, .desc="Timeout for RTU transmission T3.5, in microseconds" },
{}
};
/* High-Order Byte Table */
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
};
/* Low-Order Byte Table */
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
};
/* CRC Generation Function */
uint16_t crc16(uint8_t *data, uint16_t data_len)
{
uint8_t crc_hi = 0xFF; /* Initialized high CRC byte */