libmodbus-xenomai

介绍

libmodbus-xenomai是一个自由的软件库，它使用一个遵循Modbus协议的设备来发送和接收数据。

软件架构

软件架构说明: 使用 unit-test-server和unit-test-client 基于kunpeng920测试通过；

安装教程

1. Xenomai安装

   ./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
   

2. Xenomai配置

   在xenomai 安装目录添加 lo 文件，默认目录：/usr/xenomai/lib/xenomai/bootstrap.lo，文件内容如下：

   # 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'
   

3. libmodbus编译

   apt install autoconf automake libtool
   ./autogen.sh
   ./configure --with-gnu-ld --enable-static=yes ac_cv_have_decl_TIOCM_RTS=no
   make && make install
   

4. 测试与结果

   ​ 使用串口连接kunpeng920机器和测试机器（使用虚机），然后分别在测试机及被测机交替运行，unit-test-server和unit-test-client。unit-test-server和unit-test-client是完整的单元测试套件。

   	测试机	kunpeng920
   硬件架构	x86 WMware 虚拟机	kunpeng920 arm物理主机
   系统	OpenEuler	Centos8
   内核版本	4.19.90	4.19.206
   测试软件	libmodbus 源码单元测试工具(unit-test-server、unit-test-client)	libmodbus 源码单元测试工具(unit-test-server、unit-test-client)
   client端测试	运行unit-test-server	运行unit-test-client，结果全部PASS
   server端测试	运行unit-test-client，结果全部PASS	运行unit-test-server

   client端测试

   ​ 在测试机运行 unit-test-server，kunpeng920 运行 unit-test-client，测试结果如下：

   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端测试

​ 在测试机运行 unit-test-client，kunpeng920 运行 unit-test-server，测试结果如下：

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.

使用说明

基于Xenomai编译的libmodbus要与Xenomai RTDM驱动一起使用！！！