#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <errno.h>
#include <time.h>
#include "modbus/modbus.h"

Include dependency graph for ModmataC.h:

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Go to the source code of this file.

Macros
#define	IDLE 0

#define	PINMODE 1

#define	DIGITALWRITE 2

#define	DIGITALREAD 3

#define	ANALOGREFERENCE 4

#define	ANALOGWRITE 5

#define	ANALOGREAD 6

#define	SERVOATTACH 7

#define	SERVODETACH 8

#define	SERVOWRITE 9

#define	SERVOREAD 10

#define	WIREBEGIN 11

#define	WIREEND 12

#define	WIRECLOCK 13

#define	WIREWRITE 14

#define	WIREREAD 15

#define	SPIBEGIN 16

#define	SPISETTINGS 17

#define	SPITRANSFER 18

#define	SPIEND 19

#define	INPUT 0

#define	OUTPUT 1

#define	LOW 0

#define	HIGH 1

#define	LSBFIRST 0

#define	MSBFIRST 1

#define	SPI_MODE0 0x00

#define	SPI_MODE1 0x04

#define	SPI_MODE2 0x08

#define	SPI_MODE3 0x0C

Functions
void	closeConnection ()

void	delay (int millis)

void	delayMicroseconds (int micros)

int	isValidPin (int pinNum)

int	connectArduino (char *port, int baudRate, int id)

void	pinMode (uint8_t pinNum, uint8_t mode)

void	digitalWrite (uint8_t pinNum, uint8_t input)

int	digitalRead (uint8_t pinNum)

void	analogWrite (uint8_t pinNum, uint16_t input)

int	analogRead (uint16_t pinNum)

void	servoAttach (uint16_t pinNum)

void	servoDetach (uint16_t pinNum)

void	servoWrite (uint16_t pinNum, uint16_t input)

int	servoRead (uint16_t pinNum)

void	wireBegin ()

void	wireEnd ()

void	wireSetClock (uint32_t)

void	wireWrite (uint8_t addr, uint8_t reg, uint8_t num_bytes, uint8_t *data)

uint8_t *	wireRead (uint8_t addr, uint8_t reg, int num_bytes)

void	spiBegin ()

uint8_t *	spiTransferBuf (int CS_pin, uint8_t *buf, uint8_t length)

void	spiSettings (uint32_t speed, uint8_t order, uint8_t mode)

void	spiEnd ()

void	transmitRegisters (uint8_t fn_code, uint8_t argc, uint8_t *argv)

Macro Definition Documentation

◆ ANALOGREAD

#define ANALOGREAD 6

◆ ANALOGREFERENCE

#define ANALOGREFERENCE 4

◆ ANALOGWRITE

#define ANALOGWRITE 5

◆ DIGITALREAD

#define DIGITALREAD 3

◆ DIGITALWRITE

#define DIGITALWRITE 2

◆ HIGH

#define HIGH 1

Examples: blink.c, button.c, and nrf24l01_radio.c.

◆ IDLE

#define IDLE 0

◆ INPUT

#define INPUT 0

Examples: button.c, nrf24l01_radio.c, and pot_servo.c.

◆ LOW

#define LOW 0

Examples: blink.c, button.c, and nrf24l01_radio.c.

◆ LSBFIRST

#define LSBFIRST 0

◆ MSBFIRST

#define MSBFIRST 1

◆ OUTPUT

#define OUTPUT 1

Examples: blink.c, button.c, nrf24l01_radio.c, and pot.c.

◆ PINMODE

#define PINMODE 1

◆ SERVOATTACH

#define SERVOATTACH 7

◆ SERVODETACH

#define SERVODETACH 8

◆ SERVOREAD

#define SERVOREAD 10

◆ SERVOWRITE

#define SERVOWRITE 9

◆ SPI_MODE0

#define SPI_MODE0 0x00

◆ SPI_MODE1

#define SPI_MODE1 0x04

◆ SPI_MODE2

#define SPI_MODE2 0x08

◆ SPI_MODE3

#define SPI_MODE3 0x0C

◆ SPIBEGIN

#define SPIBEGIN 16

◆ SPIEND

#define SPIEND 19

◆ SPISETTINGS

#define SPISETTINGS 17

◆ SPITRANSFER

#define SPITRANSFER 18

◆ WIREBEGIN

#define WIREBEGIN 11

◆ WIRECLOCK

#define WIRECLOCK 13

◆ WIREEND

#define WIREEND 12

◆ WIREREAD

#define WIREREAD 15

◆ WIREWRITE

#define WIREWRITE 14

Function Documentation

◆ analogRead()

int analogRead ( uint16_t pinNum )

Reads the value of an analog pin

Parameters

(int) pin number

Returns: (int) value read from pin

Reads the value of an analog pin

Parameters

(uint8_t)	address
(uint8_t)	register
(uint8_t)	number of bytes to read

Returns: (uint8_t*) pointer to the data that was read

◆ analogWrite()

void analogWrite	(	uint8_t	pinNum,
		uint16_t	input
	)

Writes an analog value to a pin

Parameters

(int)	pin number
(int)	value to be written

Returns: void

Writes an analog value to a pin

Parameters

(uint8_t)	pin number
(uint16_t)	value to write

Returns: (void)

◆ closeConnection()

void closeConnection ( )

disconnect modbus connection if the program does not have an infinite loop

Parameters

none

Returns: void

◆ connectArduino()

int connectArduino	(	char *	port,
		int	baudRate,
		int	id
	)

Initiates connection between machine and Arduino

Parameters

(char*)	path to port
(int)	baud rate (9600 default)
(int)	slave id

Returns: (int) 1 if connection is successful, 0 if failure

Start serial connection using specified port and baud rate

Parameters

(char*)	path to the port on which Leonardo is connected
(int)	baud rate
(int)	slave id for Leonardo

Returns: (int) 1 if successful, 0 if unsuccessful

◆ delay()

void delay ( int millis )

Causes the system to delay a number of miliseconds

Parameters

(int) milliseconds

Returns: void

◆ delayMicroseconds()

void delayMicroseconds ( int micros )

◆ digitalRead()

int digitalRead ( uint8_t pinNum )

Reads the value of a digital pin

Parameters

(int) pin number

Returns: (int) value read from pin

Reads the value of a digital pin

Parameters

(uint8_t) pin number

Returns: (int) value

◆ digitalWrite()

void digitalWrite	(	uint8_t	pinNum,
		uint8_t	input
	)

Writes a digital value (1 or 0) to a pin

Parameters

(int)	pin number
(int)	value to be written

Returns: void

Writes a HIGH or LOW value to a digital pin

Parameters

(uint8_t)	pin number
(uint8_t)	input, should be 1 or 0

Returns: (void)

◆ isValidPin()

int isValidPin ( int pinNum )

Determines if a given pin number is valid (valid pins are 1-30)

Parameters

(int) pin number

Returns: (int) 1 if valid, 0 if invalid

Checks if a pin number is valid The leonardo has pins 1-30

Parameters

(int) pint number

Returns: (int) 1 if pin is valid, 0 if invalid

◆ pinMode()

void pinMode	(	uint8_t	pinNum,
		uint8_t	mode
	)

Sets the pin mode of a pin on the Arduino

Parameters

(int)	pin number
(int)	mode to set pin to

Returns: void

Sets pin mode

Parameters

(uint8_t)	pin number
(uint8_t)	pin mode

Returns: (void)

◆ servoAttach()

void servoAttach ( uint16_t pinNum )

Attaches a servo to a pin

Parameters

(int) pin number

Returns: void

Attach servo to a pin

Parameters

(uint16_t) pin number

Returns: (void)

◆ servoDetach()

void servoDetach ( uint16_t pinNum )

Detaches a servo from a pin

Parameters

(int) pin number

Returns: void

Detach servo from a pin

Parameters

(uint16_t) pin number

Returns: (void)

◆ servoRead()

int servoRead ( uint16_t pinNum )

Reads the value last written to a servo

Parameters

(int) pin number

Returns: (int) angle value last written

Reads the last value written to a servo

Parameters

(uint16_t) pin number

Returns: (int) the last value written to the servo

◆ servoWrite()

void servoWrite	(	uint16_t	pinNum,
		uint16_t	input
	)

Writes an angle value to a servo

Parameters

(int)	pin number
(int)	angle value to write

Returns: void

Write values to a servo assigned pin

Parameters

(uint16_t)	pin number
(uint16_t)	angle value to be written

Returns: (void)

◆ spiBegin()

void spiBegin ( )

Begins SPI communication with default settings (4 Mbps, MSBFIRST, SPI_MODE0)

Returns: (void)

◆ spiEnd()

void spiEnd ( )

End SPI communication

Returns: (void)

◆ spiSettings()

void spiSettings	(	uint32_t	speed,
		uint8_t	order,
		uint8_t	mode
	)

Set specific SPI settings such as communication speed, bit order, and mode

Parameters

(uint32_t)	Communication speed
(uint8_t)	bit order (MSBFIRST or LSBFIRST)
(uint8_t)	data mode (SPI_MODE0, SPI_MODE1, SPI_MODE2, or SPI_MODE3)

Returns: (void)

◆ spiTransferBuf()

uint8_t* spiTransferBuf	(	int	CS_pin,
		uint8_t *	buf,
		uint8_t	length
	)

Transfer an array of bytes over SPI

Parameters

(int)	Chip Select pin number
(uint8_t*)	Array of bytes to transfer over MOSI
(uint8_t)	Array length

Returns: (uint8_t*) Array of bytes sent back over MISO

◆ transmitRegisters()

void transmitRegisters	(	uint8_t	fn_code,
		uint8_t	argc,
		uint8_t *	argv
	)

Send bytes over Modmata. For use in custom Modmata functions

Returns: (void)

◆ wireBegin()

void wireBegin ( )

Begins an I2C connection

Returns: (void)

◆ wireEnd()

void wireEnd ( )

Terminates an I2C connection

Returns: (void)

◆ wireRead()

uint8_t* wireRead	(	uint8_t	addr,
		uint8_t	reg,
		int	num_bytes
	)

Reads data from an I2C connection

Parameters

(uint8_t)	address byte
(uint8_t)	register byte
(uint8_t)	number of bytes to read

Returns: (uint8_t*) array of bytes that were read

Reads data from an I2C connection

Parameters

(uint8_t)	address
(uint8_t)	register
(uint8_t)	number of bytes to read

Returns: (uint8_t*) pointer to the data that was read

◆ wireSetClock()

void wireSetClock ( uint32_t clock_speed )

Sets I2C clock speed

Parameters

(int) clock speed

Returns: (void)

◆ wireWrite()

void wireWrite	(	uint8_t	addr,
		uint8_t	reg,
		uint8_t	num_bytes,
		uint8_t *	data
	)

Writes data over an I2C connection

Parameters

(uint8_t)	address byte
(uint8_t)	register byte
(uint8_t)	number of bytes to be written following the address and register
(uint8_t*)	array of bytes being written

Returns: (void)

Writes data over an I2C connection

Parameters

(uint8_t)	address
(uint8_t)	register
(uint8_t)	number of bytes to be written
(uint8_t)	data being written

Returns: (void)

Macros

Functions

Macro Definition Documentation

◆ ANALOGREAD

◆ ANALOGREFERENCE

◆ ANALOGWRITE

◆ DIGITALREAD

◆ DIGITALWRITE

◆ HIGH

◆ IDLE

◆ INPUT

◆ LOW

◆ LSBFIRST

◆ MSBFIRST

◆ OUTPUT

◆ PINMODE

◆ SERVOATTACH

◆ SERVODETACH

◆ SERVOREAD

◆ SERVOWRITE

◆ SPI_MODE0

◆ SPI_MODE1

◆ SPI_MODE2

◆ SPI_MODE3

◆ SPIBEGIN

◆ SPIEND

◆ SPISETTINGS

◆ SPITRANSFER

◆ WIREBEGIN

◆ WIRECLOCK

◆ WIREEND

◆ WIREREAD

◆ WIREWRITE

Function Documentation

◆ analogRead()

◆ analogWrite()

◆ closeConnection()

◆ connectArduino()

◆ delay()

◆ delayMicroseconds()

◆ digitalRead()

◆ digitalWrite()

◆ isValidPin()

◆ pinMode()

◆ servoAttach()

◆ servoDetach()

◆ servoRead()

◆ servoWrite()

◆ spiBegin()

◆ spiEnd()

◆ spiSettings()

◆ spiTransferBuf()

◆ transmitRegisters()

◆ wireBegin()

◆ wireEnd()

◆ wireRead()

◆ wireSetClock()

◆ wireWrite()