'experiments for modbus RTU for commincation with VFD
 
 ' version   can do
 ' 1         correct CRC calculation for modbus
 ' 2         send UART and control DE
 ' 3         assemble correct string for read register command
 ' 4         receives response from holding register read, no interrupt
 ' 5         pullup RX -> no BREAK, write 1 reg, help text, fault explain
 ' 6         t.b.d.
 
 option default integer
 option base 1
 
 'ansi colors
 bl$=chr$(27)+"[36m"
 wh$=chr$(27)+"[37m"
 gr$=chr$(27)+"[32m"
 rd$=chr$(27)+"[31m"
 
 'help strings
 rec$=gr$+"receive "+wh$
 snd$=gr$+"send    "+wh$
 dim er$(4) length 16 = ("illegal function","illegal address","illegal value","slave fail")
 
 'defaults for this modbus slave
 const bitrate=19200       'communication speed
 ID=45                     'default modbus id
 
 'init system
 openport                  'serial port
 helptext                  'show helptext on terminal
 
 
 'repeated send string (old loop)
 do
   e$=""
   flush_rx
   parse
   
   pause 50   'just some time for a message to get in
   
   if loc(1) then e$=e$+input$(loc(1),#1)  'get answer
   'e$=right$(e$,len(e$)-1)    'if needed strip break character during transmit
   print rec$;:prtx e$
   decode e$
   
 loop
 
 
 
sub decode a$
 local value,numbyte,i
 select case asc(mid$(a$,2,1))
   case 03 'read
     numbyte=asc(mid$(a$,3,1))
     for i=4 to 2+numbyte step 2
       value=256*ASC(mid$(a$,i,1))+ASC(mid$(a$,i+1,1))
       print "value";(i-2)/2;" &h";right$("000"+hex$(value),4);" (decimal)";value
     next
   case >127 'error
     print rd$;er$(asc(mid$(a$,3,1)));wh$
 end select
end sub
 
 
 'this is the command loop, parsing text entered
sub parse
 print : print gr$;ID;wh$;" "; : input txt$ : txt$=UCASE$(txt$)
 print
 if left$(txt$,2)="ID" then ID=val(mid$(txt$,4)) 'robust
 if left$(txt$,2)="RR" then modsend mk_rd$(txt$) : print snd$;:prtx tx$
 if left$(txt$,2)="WR" then modsend mk_wr$(txt$) : print snd$;:prtx tx$
 
end sub
 
 
 
 'compiles the string for reading 16 bit holding register
function mk_rd$(a$)
 local posi=4:hlp$=right$(a$,len(a$)-3) 'strip the function code
 
 'register number and registeer range are 2 byte MSB first
 mk_rd$=chr$(ID)+chr$(3)  'ID + the modbus read register function 3
 
 'get register number, and strip from string
 reg=val(hlp$):posi=instr(hlp$," "):if posi>1 then hlp$=right$(hlp$,len(hlp$)-posi)
 'reg = reg - 1 'register start at 1 .... not used in documentation copeland
 mk_rd$=mk_rd$+chr$(reg\256)+chr$(reg and 255)
 
 'get number of register to read
 num=val(hlp$)
 mk_rd$=mk_rd$+chr$(num\256)+chr$(num and 255)
 
end function

 
 'compiles the string for writing a single 16 bit register
function mk_wr$(a$)
 local posi=4:hlp$=right$(a$,len(a$)-3) 'strip the function code
 
 'register number and registeer range are 2 byte MSB first
 mk_wr$=chr$(ID)+chr$(6)  'ID + the modbus rwrite register function 6
 
 'get register number, and strip from string
 reg=val(hlp$):posi=instr(hlp$," "):if posi>1 then hlp$=right$(hlp$,len(hlp$)-posi)
 'reg = reg - 1 'register start at 1 .... not used in documentation copeland
 mk_wr$=mk_wr$+chr$(reg\256)+chr$(reg and 255)
 
 'get the value to write to the register
 num=val(hlp$)
 mk_wr$=mk_wr$+chr$(num\256)+chr$(num and 255)
 
end function
 
 
 
 'prints the string send from UART in readable form on console
sub prtx a$
 local i
'  print
 for i=1 to len(a$)
   if i=2 then print choice(asc(mid$(a$,i,1))>127,rd$,bl$);
   if i=len(a$)-1 then print choice(check(a$),wh$,rd$);
   print right$("0"+hex$(asc(mid$(a$,i,1))),2);" ";
 next
 print wh$
end sub
 
 
 'sends ID+PDU in string a$, adds CRC16
sub modsend a$
 
 local m$=a$
 
 'calculate string crc and append crc to string
 crc_val=math(crc16 m$,len(m$),&h8005,&hffff,0,1 ,1)
 crcl=crc_val and 255:m$=m$+chr$(crcl)
 crch=crc_val \ 256:m$=m$+chr$(crch)
 
 'calculate DE time
 ms_char!=11*1000/bitrate         '1 char = 11 bits (start+8+parity+stop)
 ms_mess!=len(m$)*ms_char!        'message total time
 
 'send it through the UART with controlled DE pin
 pin(gp2)=1  'DE high
 print #1,m$;
 pause ms_mess!
 pin(gp2)=0  'DE low
 
 tx$=m$  'global string, just for debugging
 
end sub
 
 
 'opens the UART port for communication and the direction cotrol DE
sub openport
 
 'open COM1 port with modbus defaults 19200/8bit/even parity/1 stop
 setpin gp1, gp0, COM1             'rx,tx,port
 setpin gp2,dout : pin(gp2)=0      'DE pin is GP2
 'open "COM1:"+str$(bitrate)+",256,have_data,EVEN" as #1 'interrupt driven
 open "COM1:"+str$(bitrate)+",EVEN" as #1
 
end sub
 
 
 'checks if e received strin has matchin CRC in it
function check(a$)
 
 local pd$,cr$
 local crc_pd,crc_mes
 check=0
 
 if len(a$)>3 then
   
   'separate ID/PDU from message
   pd$=left$(a$,len(a$)-2)
   crc_pd=math(crc16 pd$,len(pd$),&h8005,&hffff,0,1 ,1)
   
   'separate CRC from message
   cr$=right$(a$,2)
   crc_mes=256*asc(right$(cr$,1))+asc(left$(cr$,1))
   
   'compare CRC's -> when equal, message is okay.
   if crc_mes=crc_pd then check=1
   
 end if
 
end function
 
 
 'flush the USRT rx buffer
sub flush_rx
 local dum$
 'print loc(1)
 if loc(1) then dum$=input$(loc(1),#1)
end sub


sub helptext
 print gr$+"------------<< PICO MODBUS TERMINAL >>--------------"
 print "Type commands and values <space> separated. Values  "
 print "Hexadecimal values must be preceeded by '&h'"
 print "Commands: RR (read register), ID (change client ID) "
 print "WR (write 1 register)
 print "Send string and response string are shown in hex"
 print "Some response is decoded. Register value is base-1"
 print "example: Read Register 77 (1 register) from client 4"
 print "type 'ID 4' then type 'RR 77 1'. End each with <enter>"
end sub

 'experiments for modbus RTU for commincation with VFD
 
 ' version   can do
 ' 1         correct CRC calculation for modbus
 ' 2         send UART and control DE
 ' 3         assemble correct string for read register command
 ' 4         receives response from holding register read, no interrupt
 ' 5         pullup RX -> no BREAK, write 1 reg, help text, fault explain
 ' 6         write multiple
 ' 7         write string according Customer procedure (modbus ??) werkt
 '           WS reg DIT_IS_DE_TEXT format.
 ' 8         VGA color
 
 option default integer
 option base 1
 
 'check if main output is VGA screen or console
 vga=(mm.device$="PicoMiteVGA")
 
 'ansi colors
 bl$=chr$(27)+"[36m"
 wh$=chr$(27)+"[37m"
 gr$=chr$(27)+"[32m"
 rd$=chr$(27)+"[31m"
 
 'help strings
 rec$="receive "
 snd$="send    "
 dim er$(4) length 16 = ("illegal function","illegal address","illegal value","slave fail")
 
 'defaults for customer VFD
 const bitrate=19200       'communication speed
 ID=45                     'default modbus id
 
 'init system
 openport                  'serial port
 cls
 helptext                  'show helptext on terminal
 
 
 'repeated send string (old loop)
 do
   e$=""
   flush_rx
   parse
   
   pause 50   'just some time for a message to get in
   
   if loc(1) then e$=e$+input$(loc(1),#1)  'get answer
   'e$=right$(e$,len(e$)-1)    'if needed strip break character during transmit
   
   if vga then
     color rgb(green):print rec$;:color rgb(white)
   else
     print gr$;rec$;wh$;
   end if
   
   prtx e$
   decode e$
 loop
 
 
 
sub decode a$
 local value,numbyte,i
 select case asc(mid$(a$,2,1))
   case 03 'read
     numbyte=asc(mid$(a$,3,1))
     for i=4 to 2+numbyte step 2
       value=256*ASC(mid$(a$,i,1))+ASC(mid$(a$,i+1,1))
       print "  reg";reg-1+(i-2)/2;" = &h";right$("000"+hex$(value),4);" (decimal)";value
     next
   case >127 'error
     if vga then
       color rgb(red):print er$(asc(mid$(a$,3,1))):color rgb(white)
     else
       print rd$;er$(asc(mid$(a$,3,1)));wh$
     end if
 end select
end sub
 
 
 'this is the command loop, parsing text entered
sub parse
 print
 if vga then
   color rgb(green):print ID;" ";:color rgb(white)
 else
   print gr$;ID;" ";wh$;
 end if
 input txt$ : txt$=UCASE$(txt$)
 print
 select case left$(txt$,2)
   case "RR"
     modsend mk_rd$(txt$)
   case "WR"
     modsend mk_wr$(txt$)
   case "WM"
     modsend mk_wm$(txt$)
   case "WS"
     modsend mk_ws$(txt$)
 end select
 if left$(txt$,2)="ID" then
   ID=val(mid$(txt$,4))
 else
   if vga then
     color rgb(green):print snd$;:color rgb(white)
   else
     print gr$;snd$;wh$
   end if
   prtx tx$
 end if
end sub
 
 
 
 'compiles the string for reading 16 bit holding register
function mk_rd$(a$)
 local posi=4:hlp$=right$(a$,len(a$)-3) 'strip the function code
 
 'register number and registeer range are 2 byte MSB first
 mk_rd$=chr$(ID)+chr$(3)  'ID + the modbus read register function 3
 
 'get register number, and strip from string
 reg=val(hlp$):posi=instr(hlp$," "):if posi>1 then hlp$=right$(hlp$,len(hlp$)-posi)
 'reg = reg - 1 'register start at 1 .... not used in documentation
 mk_rd$=mk_rd$+chr$(reg\256)+chr$(reg and 255)
 
 'get number of register to read
 num=val(hlp$)
 mk_rd$=mk_rd$+chr$(num\256)+chr$(num and 255)
 
end function
 
 
 'compiles the string for writing a single 16 bit register
function mk_wr$(a$)
 local posi=4:hlp$=right$(a$,len(a$)-3) 'strip the function code
 
 'register number and registeer range are 2 byte MSB first
 mk_wr$=chr$(ID)+chr$(6)  'ID + the modbus write register function 6
 
 'get register number, and strip from string
 reg=val(hlp$):posi=instr(hlp$," "):if posi>1 then hlp$=right$(hlp$,len(hlp$)-posi)
 'reg = reg - 1 'register start at 1 .... not used in documentation
 mk_wr$=mk_wr$+chr$(reg\256)+chr$(reg and 255)
 
 'get the value to write to the register
 num=val(hlp$)
 mk_wr$=mk_wr$+chr$(num\256)+chr$(num and 255)
 
end function
 
 
 'compiles the string for writing multiple 16 bit registers
function mk_wm$(a$)
 local posi=4:hlp$=right$(a$,len(a$)-3) 'strip the function code
 
 'register number and registeer range are 2 byte MSB first
 mk_wm$=chr$(ID)+chr$(16)  'ID + the modbus rwrite register function 6
 
 'get register number, and strip from string
 reg=val(hlp$):posi=instr(hlp$," "):if posi>1 then hlp$=right$(hlp$,len(hlp$)-posi)
 'reg = reg - 1 'register start at 1 .... not used in documentation
 mk_wm$=mk_wm$+chr$(reg\256)+chr$(reg and 255)
 
 'get register count, and strip from string
 num=val(hlp$):posi=instr(hlp$," "):if posi>1 then hlp$=right$(hlp$,len(hlp$)-posi)
 mk_wm$=mk_wm$+chr$(num\256)+chr$(num and 255)+chr$(num*2 and 255) 'values(16b)+bytes
 
 'num is number of 16 bit values to follow
 for i=1 to num
   'get the value to write to the register
   dat=val(hlp$):posi=instr(hlp$," "):if posi>1 then hlp$=right$(hlp$,len(hlp$)-posi)
   mk_wm$=mk_wm$+chr$(dat\256)+chr$(dat and 255)
 next
 
end function
 
 
 'compiles the string for writing text in one registers
function mk_ws$(a$)
 local posi=4:hlp$=right$(a$,len(a$)-3) 'strip the function code
 
 'register number and registeer range are 2 byte MSB first
 mk_ws$=chr$(ID)+chr$(06)  'ID + the modbus write single register function 6
 
 'get register number, and strip from string
 reg=val(hlp$):posi=instr(hlp$," "):if posi>1 then hlp$=right$(hlp$,len(hlp$)-posi)
 'reg = reg - 1 'register start at 1 .... not used in documentation
 mk_ws$=mk_ws$+chr$(reg\256)+chr$(reg and 255)
 
 'rest of the command string is text, append it
 'I am not sure this is MODBUS compliant, but customer uses it this way
 mk_ws$=mk_ws$+hlp$
 
end function
 
 
 
 'prints the string send from UART in readable form on console
sub prtx a$
 local i
 '  print
 for i=1 to len(a$)
   if i=2 then
     if vga then
       color choice(asc(mid$(a$,i,1))>127,rgb(red),rgb(cyan))
     else
       print choice(asc(mid$(a$,i,1))>127,rd$,bl$);
     end if
   end if
   if i=len(a$)-1 then
     if vga then
       color choice(check(a$),rgb(white),rgb(red))
     else
       print choice(check(a$),wh$,rd$);
     end if
   end if
   print right$("0"+hex$(asc(mid$(a$,i,1))),2);" ";
 next
 if vga then
   print :color rgb(white)
 else
   print wh$
 end if
end sub
 
 
 'sends ID+PDU in string a$, adds CRC16
sub modsend a$
 
 local m$=a$
 
 'calculate string crc and append crc to string
 crc_val=math(crc16 m$,len(m$),&h8005,&hffff,0,1 ,1)
 crcl=crc_val and 255:m$=m$+chr$(crcl)
 crch=crc_val \ 256:m$=m$+chr$(crch)
 
 'calculate DE time
 ms_char!=11*1000/bitrate         '1 char = 11 bits (start+8+parity+stop)
 ms_mess!=len(m$)*ms_char!        'message total time
 
 'print ms_mess! 'debug
 
 'send it through the UART with controlled DE pin
 pin(gp2)=1  'DE high
 print #1,m$;
 pause ms_mess!
 pin(gp2)=0  'DE low
 
 tx$=m$  'global string, just for debugging
 
end sub
 
 
 'opens the UART port for communication and the direction cotrol DE
sub openport
 
 'open COM1 port with modbus defaults 19200/8bit/even parity/1 stop
 setpin gp1, gp0, COM1             'rx,tx,port
 setpin gp2,dout : pin(gp2)=0      'DE pin is GP2
 open "COM1:"+str$(bitrate)+",EVEN" as #1
 
end sub
 

 
 'checks if e received strin has matchin CRC in it
function check(a$)
 
 local pd$,cr$
 local crc_pd,crc_mes
 check=0
 
 if len(a$)>3 then
   
   'separate ID/PDU from message
   pd$=left$(a$,len(a$)-2)
   crc_pd=math(crc16 pd$,len(pd$),&h8005,&hffff,0,1 ,1)
   
   'separate CRC from message
   cr$=right$(a$,2)
   crc_mes=256*asc(right$(cr$,1))+asc(left$(cr$,1))
   
   'compare CRC's -> when equal, message is okay.
   if crc_mes=crc_pd then check=1
   
 end if
 
end function
 
 
 'flush the USRT rx buffer
sub flush_rx
 local dum$
 'print loc(1)
 if loc(1) then dum$=input$(loc(1),#1)
end sub
 
 
sub helptext
 if vga then color rgb(green) else print gr$;
 Print "-----------<< PICO MODBUS RTU TERMINAL >>-------------"
 if vga then color rgb(white) else print wh$;
 print
 Print "Type commands and values <space> separated values."
 Print "Hexadecimal values must preceeded '&h'. Commands :"
 Print "ID (change client ID)     = ID xx "
 Print "RR (read registers)       = RR reg num"
 Print "WR (write 1 register)     = WR reg val"
 Print "WM (write multi registers)= WM reg num val1 val2 .."
 Print "WS (write text string)    = WS reg TEXT_STRING"
 Print "Send string and response string are shown in hex"
 Print "Some response is decoded. Register value is base-1"
 Print "example: Read Register 77 (1 register) from client 4"
 Print "type 'ID 4' then type 'RR 77 1'. End each with <enter>"
end sub
 

 'modbus defines
 looptime=50             'ms
 timeout=1000            'ms
 loops=timeout/looptime  'number of loops in 1000ms
 retries=5               'number of retries

 'modbus spy for Pico Zero
 
 'version control
 'v01    serial snoop works, ws2812 indicates errors
 'v02    added timestamping
 'v03e   preparations for decoding
 
 
 option default integer
 
 'ansi colors
 bl$=Chr$(27)+"[36m"
 wh$=Chr$(27)+"[37m"
 gr$=Chr$(27)+"[32m"
 rd$=Chr$(27)+"[31m"
 
 'ws2812 colors
 cya%=&h2030
 pur%=&h300030
 grn%=&h4000
 red%=&h400000
 
 'defaults for Copeland VFD's
 Const bitrate=19200       'communication speed
 ID=45                     'default modbus id
 
 'init system for ZERO using gp0/gp1/gp2
 
 'open COM1 port with modbus defaults 19200/8bit/even parity/1 stop
 setpin gp1, gp0, COM1             'rx,tx,port
 setpin gp2,dout : pin(gp2)=0      'DE pin is GP2
 Open "COM1:"+Str$(bitrate)+",EVEN" As #1
 
 device ws2812 o,gp16,1,pur%    'gp16 is connected to the RGB color LED
 
 dim oe$ = "" , e$ = ""
 timout!= 2 * 11 * 1000 / bitrate  'message end = 2 characters, 11 bits each, in ms
 timer=0
 
 'snoop bus
 do
 timestamp!=timout!+timer
   do
     if loc(1) then e$=e$+Input$(Loc(1),#1): timestamp!=timout!+timer
   loop until timer>timestamp! 'end of message when no new character for 22 bittime
   if len(e$)>0 then prtx e$ : oe$ = e$ : e$ = ""
 loop
 
 
 
 'prints the string from UART in readable form on console
Sub prtx a$
 Local i

 print gr$;str$(timer/1000,4,3,"0");" : ";wh$;
 
 For i=1 To Len(a$)
   
   If i=2 Then Print choice(Asc(Mid$(a$,i,1))>127,rd$,bl$);
   If i=Len(a$)-1 Then Print choice(check(a$),wh$,rd$);
   Print Right$("0"+Hex$(Asc(Mid$(a$,i,1))),2);" ";
   
 Next
 
 'try to analyze source of message
 
 'Print space$(60-3*len(e$));bl$;
 'print "h";
 print wh$
 
End Sub
 
 
 'checks if e received string has matching CRC in it
Function check(a$)
 
 Local pd$,cr$
 Local crc_pd,crc_mes
 
 If Len(a$)>3 Then
   
   'separate ID/PDU from message
   pd$=Left$(a$,Len(a$)-2)
   
   crc_pd=math(crc16 pd$,Len(pd$),&h8005,&hffff,0,1 ,1)
   
   'separate CRC from message
   cr$=Right$(a$,2)
   crc_mes=256*Asc(Right$(cr$,1))+Asc(Left$(cr$,1))
   
   'compare CRC's -> when equal, message is okay.
   If crc_mes=crc_pd Then
     check=1 : device ws2812 o,gp16,1,grn%
   else
     check=0 : device ws2812 o,gp16,1,red%
   end if
 else
   device ws2812 o,gp16,1,pur%
 End If
 
End Function