@martin-kudláček Ok, I just finished to prepare the SD card based on latest UniPian. I will update this thread when I will have some news. Thank you for the support so far.

@knebb said in Need Some sort of Jumpstart:

I am unsure about the "status".

According to the documentation, status is the new value of the output and can be TRUE (to enable it) or FALSE (to disable it).

Here I have no clue for what I would need the nb... does it mean it will read nb bits? To be stored in nb*dest? I would always use the value 1, wouldn't I? If using 2 it would return the value of the second DI 2.2 in the second bit, correct?

Yes to all. This mimics the behavior of the underlying protocol: ModBUS has a Read coils function but does not have Read single coil. You can easily provide your own macro for that, if you really want:

#define read_bit(bus,addr,dst) modbus_read_bits((bus),(addr),1,(dst))

@knebb TL/DR: just use uint8_t. This is the right thing to do.

There is no differences (because of integer promotion) only when you use that variable in an expression. Incidentally, and for different reasons [1], reading a single bit will work with whatever 0-initialized integer you throw at modbus_read_bits, although conceptually wrong. But I can assure you that, when reading multiple channels, using anything but uint8_t will give you wrong results.

[1] Raspberry Pi is little-endian. Setting the first byte of any 0-initialized uint* variable to a specific value (e.g., TRUE), makes that very same variable initialized to that value, regardless of its type.

Here is an example that hopefully will shed some light:

#include <assert.h>
#include <stdint.h>
#include <string.h>

#define TRUE 12

int main()
{
    // Using an union to be able to set the first byte of everything
    // with only one instruction (m.byte = ...)
    union {
        uint8_t byte;
        uint16_t word;
        uint32_t dword;
        uint64_t qword;
    } m;

    // Let's set the first byte of 0 initialized memory
    memset(&m, 0, sizeof m);
    m.byte = TRUE;

    assert(m.byte == TRUE);  // Ok
    assert(m.word == TRUE);  // Ok on little-endian machines
    assert(m.dword == TRUE); // Ok on little-endian machines
    assert(m.qword == TRUE); // Ok on little-endian machines

    // Now let's try with random initialized memory
    memset(&m, 3, sizeof m);
    m.byte = TRUE;

    assert(m.byte == TRUE);  // Ok
    assert(m.word == TRUE);  // Error!
    assert(m.dword == TRUE); // Error!
    assert(m.qword == TRUE); // Error!

    return 0;
}

@knebb said:

Would both work?

None of them will. You should really read a ModBUS introduction... I think the wikipedia page should suffice.

The counter is an input register, not a bit, so:

union {
    uint16_t word[2];
    uint32_t dword;
} counter;

if (modbus_read_registers(bus, 103, 2, counter.word) != 2) {
    printf("Error\n");
} else {
    printf("DI2.1 counter is %u\n", counter.dword);
}

Not sure which is the less and the most significant word, so if the above gives wrong results just swap counter.word[0] and counter.word[1].

I managed to get what I need by compiling a new (hopefully) compatible set of modules and installing by hands only the needed ones. Here are the steps I followed, executed directly on the AXON as root:

v=$(uname -r)

cd /usr/src
wget https://cdn.kernel.org/pub/linux/kernel/v4.x/linux-$v.tar.xz
tar xf linux-$v.tar.xz
cd linux-$v
gzip -dc /proc/config.gz > .config
apt install libncurses5-dev bc

# Customize the kernel to your needs. In my case I enabled the
# snd-usb-audio module that, in cascade, enabled other sound stuff.
make menuconfig

# Build and install *only* the new modules.
make modules
mkdir -p /lib/modules/$v/kernel/sound/usb
cp sound/usb/*.ko /lib/modules/$v/kernel/sound/usb/
cp sound/core/snd-*.ko /lib/modules/$v/kernel/sound/core/
depmod

# Not strictly needed, but forbidding future axon-kernel upgrades
# could avoid potential hard-to-debug problems.
apt-mark hold axon-kernel

@knebb said in Need Some sort of Jumpstart:

it writes the state as 0 or 1 into each of the uint8_t .

Or, using semantic constants, as FALSE and TRUE.

Directly using bits would be really slow and error prone (and a nightmare for language bindings).

@knebb said:

Would both work?

None of them will. You should really read a ModBUS introduction... I think the wikipedia page should suffice.

The counter is an input register, not a bit, so:

union {
    uint16_t word[2];
    uint32_t dword;
} counter;

if (modbus_read_registers(bus, 103, 2, counter.word) != 2) {
    printf("Error\n");
} else {
    printf("DI2.1 counter is %u\n", counter.dword);
}

Not sure which is the less and the most significant word, so if the above gives wrong results just swap counter.word[0] and counter.word[1].

@knebb TL/DR: just use uint8_t. This is the right thing to do.

There is no differences (because of integer promotion) only when you use that variable in an expression. Incidentally, and for different reasons [1], reading a single bit will work with whatever 0-initialized integer you throw at modbus_read_bits, although conceptually wrong. But I can assure you that, when reading multiple channels, using anything but uint8_t will give you wrong results.

[1] Raspberry Pi is little-endian. Setting the first byte of any 0-initialized uint* variable to a specific value (e.g., TRUE), makes that very same variable initialized to that value, regardless of its type.

Here is an example that hopefully will shed some light:

#include <assert.h>
#include <stdint.h>
#include <string.h>

#define TRUE 12

int main()
{
    // Using an union to be able to set the first byte of everything
    // with only one instruction (m.byte = ...)
    union {
        uint8_t byte;
        uint16_t word;
        uint32_t dword;
        uint64_t qword;
    } m;

    // Let's set the first byte of 0 initialized memory
    memset(&m, 0, sizeof m);
    m.byte = TRUE;

    assert(m.byte == TRUE);  // Ok
    assert(m.word == TRUE);  // Ok on little-endian machines
    assert(m.dword == TRUE); // Ok on little-endian machines
    assert(m.qword == TRUE); // Ok on little-endian machines

    // Now let's try with random initialized memory
    memset(&m, 3, sizeof m);
    m.byte = TRUE;

    assert(m.byte == TRUE);  // Ok
    assert(m.word == TRUE);  // Error!
    assert(m.dword == TRUE); // Error!
    assert(m.qword == TRUE); // Error!

    return 0;
}

@knebb said in How to Read M103 Modbus Doc?:

*dest is supposed to be uint16_t.

No, it is an uint8_t array. Every element of the array contains the value of a single digital channel, set to TRUE (that is, IIRC, 1) or FALSE (that is surely 0).

Here is my untested snippet:

// Reading one channel
uint8_t my_digital;
modbus_read_bits(bus, 108, 1, &my_digital);
if (my_digital) {
    ...
}
// Reading multiple channels
uint8_t my_digitals[2];
modbus_read_bits(bus, 108, 2, my_digitals);
if (my_digitals[0]) {
    ...
}

@knebb said in Need Some sort of Jumpstart:

I am unsure about the "status".

According to the documentation, status is the new value of the output and can be TRUE (to enable it) or FALSE (to disable it).

Here I have no clue for what I would need the nb... does it mean it will read nb bits? To be stored in nb*dest? I would always use the value 1, wouldn't I? If using 2 it would return the value of the second DI 2.2 in the second bit, correct?

Yes to all. This mimics the behavior of the underlying protocol: ModBUS has a Read coils function but does not have Read single coil. You can easily provide your own macro for that, if you really want:

#define read_bit(bus,addr,dst) modbus_read_bits((bus),(addr),1,(dst))

@knebb The relevant function is fieldbus_thread, that basically runs a polling loop every 20 ms. If you do not need threads, you can consider that function as main() and drop all the locking stuff (i.e. a good 50% of code in iteration).

#include "lappaseven.h"
#include "fieldbus.h"
#include <errno.h>
#include <string.h>

#define MODBUS_ID       0

#define AI1_ADDRESS     3
#define DI1_ADDRESS     0
#define DI2_ADDRESS     100
#define DI3_ADDRESS     200
#define DO1_ADDRESS     1
#define DO2_ADDRESS     101
#define DO3_ADDRESS     201
#define AO1_ADDRESS     2
#define VREFINT_ADDRESS 5
#define VREF_ADDRESS    1009


static IO image = { 0 };


void
fieldbus_free(modbus_t *modbus)
{
    if (modbus != NULL) {
        modbus_close(modbus);
        modbus_free(modbus);
    }
}

modbus_t *
fieldbus_new(void)
{
    modbus_t *modbus;
    gchar *host;
    int port;

    host   = g_settings_get_string(gs.settings, "modbus-host");
    port   = g_settings_get_uint(gs.settings, "modbus-porta");
    modbus = modbus_new_tcp(host, port);

    if (modbus == NULL ||
        modbus_connect(modbus) == -1 ||
        modbus_set_slave(modbus, MODBUS_ID) == -1)
    {
        g_warning("Unable to initialize communication on %s:%d: %s",
                  host, port, modbus_strerror(errno));
        fieldbus_free(modbus);
        modbus = NULL;
    }

    g_free(host);
    return modbus;
}

gboolean
fieldbus_get_ai(modbus_t *modbus)
{
    uint16_t vrefint, vref, ai;

    if (modbus_read_registers(modbus, VREFINT_ADDRESS, 1, &vrefint) == -1 ||
        modbus_read_registers(modbus, VREF_ADDRESS, 1, &vref) == -1 ||
        modbus_read_registers(modbus, AI1_ADDRESS, 1, &ai) == -1)
    {
        g_warning("fieldbus_get_ai error: %s", modbus_strerror(errno));
        return FALSE;
    }

    /* Linearization to volts as described by Neuron manual, page 14.
     * AI1vdev and AI1voffset are set to supposedly 0. */
    image.AI1 = 3.3 * vref / vrefint * 3 * ai / 4096;
    return TRUE;
}

gboolean
fieldbus_get_di(modbus_t *modbus)
{
    uint16_t word1, word2, word3;
    int n;

    if (modbus_read_registers(modbus, DI1_ADDRESS, 1, &word1) == -1 ||
        modbus_read_registers(modbus, DI2_ADDRESS, 1, &word2) == -1 ||
        modbus_read_registers(modbus, DI3_ADDRESS, 1, &word3) == -1)
    {
        g_warning("fieldbus_get_di error: %s", modbus_strerror(errno));
        return FALSE;
    }

    for (n = 0; n < G_N_ELEMENTS(image.DI1); ++n) {
        image.DI1[n] = (word1 & (1 << n)) > 0;
    }
    for (n = 0; n < G_N_ELEMENTS(image.DI2); ++n) {
        image.DI2[n] = (word2 & (1 << n)) > 0;
    }
    for (n = 0; n < G_N_ELEMENTS(image.DI3); ++n) {
        image.DI3[n] = (word3 & (1 << n)) > 0;
    }

    return TRUE;
}

gboolean
fieldbus_set_do(modbus_t *modbus)
{
    uint16_t word1, word2, word3;
    int n;

    word1 = 0;
    word2 = 0;
    word3 = 0;

    for (n = 0; n < G_N_ELEMENTS(image.DO1); ++n) {
        word1 |= image.DO1[n] << n;
    }
    for (n = 0; n < G_N_ELEMENTS(image.DO2); ++n) {
        word2 |= image.DO2[n] << n;
    }
    for (n = 0; n < G_N_ELEMENTS(image.DO3); ++n) {
        word3 |= image.DO3[n] << n;
    }

    if (modbus_write_register(modbus, DO1_ADDRESS, word1) == -1 ||
        modbus_write_register(modbus, DO2_ADDRESS, word2) == -1 ||
        modbus_write_register(modbus, DO3_ADDRESS, word3) == -1)
    {
        g_warning("fieldbus_set_do error: %s", modbus_strerror(errno));
        return FALSE;
    }

    return TRUE;
}

gboolean
fieldbus_set_ao(modbus_t *modbus)
{
    /* Analog output must be between 0 .. 5 V, hence the division */
    if (modbus_write_register(modbus, AO1_ADDRESS, image.AO1 / 2) == -1) {
        g_warning("fieldbus_set_ao error: %s", modbus_strerror(errno));
        return FALSE;
    }

    return TRUE;
}

#if THREADING
static gboolean
iteration(modbus_t *modbus)
{
    static gboolean workaround = FALSE;
    gboolean AI, DI, AO, DO, quit;

    AI = fieldbus_get_ai(modbus);
    DI = fieldbus_get_di(modbus);

    g_mutex_lock(&gs.fieldbus_lock);
    AO = gs.hal.AO1 != gs.share.AO1;
    DO = memcmp(gs.hal.DO1, gs.share.DO1, sizeof(gs.hal.DO1)) != 0 ||
         memcmp(gs.hal.DO2, gs.share.DO2, sizeof(gs.hal.DO2)) != 0 ||
         memcmp(gs.hal.DO3, gs.share.DO3, sizeof(gs.hal.DO3)) != 0;
    if (DI) {
        memcpy(gs.share.DI1, image.DI1, sizeof(image.DI1));
        memcpy(gs.share.DI2, image.DI2, sizeof(image.DI2));
        memcpy(gs.share.DI3, image.DI3, sizeof(image.DI3));
    }
    if (AI) {
        gs.share.AI1 = image.AI1;
    }
    if (DO) {
        memcpy(image.DO1, gs.share.DO1, sizeof(image.DO1));
        memcpy(image.DO2, gs.share.DO2, sizeof(image.DO2));
        memcpy(image.DO3, gs.share.DO3, sizeof(image.DO3));
    }
    if (AO) {
        image.AO1 = gs.share.AO1;
    }
    quit = gs.quit;
    g_mutex_unlock(&gs.fieldbus_lock);

    if (DI) {
        memcpy(gs.hal.DI1, image.DI1, sizeof(image.DI1));
        memcpy(gs.hal.DI2, image.DI2, sizeof(image.DI2));
        memcpy(gs.hal.DI3, image.DI3, sizeof(image.DI3));
    }
    if (DO && fieldbus_set_do(modbus)) {
        memcpy(gs.hal.DO1, image.DO1, sizeof(image.DO1));
        memcpy(gs.hal.DO2, image.DO2, sizeof(image.DO2));
        memcpy(gs.hal.DO3, image.DO3, sizeof(image.DO3));
    }

    /* XXX Workaround for a unknown fieldbus error that seems to reset the
     *     analog output: if this happens, force a AO1 refresh cycle */
    if (! DI || ! AI) {
        workaround = TRUE;
    }
    AO = AO || workaround;

    if (AO && fieldbus_set_ao(modbus)) {
        g_debug("AO1 set to %d", image.AO1);
        gs.hal.AO1 = image.AO1;
        workaround = FALSE;
    }

    return ! quit;
}

gpointer
fieldbus_thread(gpointer user_data)
{
    modbus_t *modbus;
    gint64 period, scan, now, span, limit;

    if (gs.dry_run) {
        return NULL;
    }

    modbus = fieldbus_new();
    if (modbus == NULL) {
        return NULL;
    }

    period = g_settings_get_uint(gs.settings, "periodo");
    if (period == 0) {
        g_warning("Period set to 0: fallback to 20000");
        period = 20000;
    }

    scan  = g_get_monotonic_time();
    limit = period;

    do {
        g_main_context_invoke_full(NULL, G_PRIORITY_HIGH,
                                   cycle_iteration, NULL, NULL);
        now  = g_get_monotonic_time();
        span = now - scan;
        if (span > limit) {
            limit = span;
            g_warning("Period exceeded: %.3f ms > %.3f ms" ,
                      limit / 1000., period / 1000.);
        }
        scan += period;
        if (now < scan) {
            g_usleep(scan - now);
        }
    } while (iteration(modbus));

    fieldbus_free(modbus);
    return NULL;
}
#endif

The IO struct is just an image of the I/O status:

typedef struct {
    uint8_t         DI1[4];
    uint8_t         DI2[16];
    uint8_t         DI3[16];
    uint8_t         DO1[4];
    uint8_t         DO2[14];
    uint8_t         DO3[14];
    double          AI1;
    uint16_t        AO1;
} IO;

I would be really interested in the configuration used to build the axon-kernel, so I could try to rebuild the kernel and include the modules I need. Is there a place where I can get it?

Hi @knebb
I developed a fistful of programs in plain C on Neuron. I just linked against libmodbus and called the loopback ModBUS server at 127.0.0.1, port 502 (hence no need to enable the EVOK service).
If you are not familiar I can send you some code to help you getting started.