nanoMODBUS - A compact MODBUS RTU/TCP C library for embedded/microcontrollers

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nanoMODBUS is a small C library that implements the Modbus protocol. It is especially useful in embedded and resource-constrained systems like microcontrollers. Its main features are:

• Compact size

• Only ~2000 lines of code

• Client and server code can be disabled, if not needed

• No dynamic memory allocations

• Transports:

• RTU

• TCP

• Roles:

• Client

• Server

• Function codes:

• 01 (0x01) Read Coils

• 02 (0x02) Read Discrete Inputs

• 03 (0x03) Read Holding Registers

• 04 (0x04) Read Input Registers

• 05 (0x05) Write Single Coil

• 06 (0x06) Write Single Register

• 15 (0x0F) Write Multiple Coils

• 16 (0x10) Write Multiple registers

• 20 (0x14) Read File Record

• 21 (0x15) Write File Record

• 23 (0x17) Read/Write Multiple registers

• 43/14 (0x2B/0x0E) Read Device Identification

• Platform-agnostic

• Requires only C99 and its standard library

• Data transport read/write functions are implemented by the user

• User-definable CRC function for better performance

• Broadcast requests and responses

At a glance

#include <stdio.h>

#include "nanomodbus.h"
#include "my_platform_stuff.h"

int main(int argc, char* argv[]) {
// Set up the TCP connection
void* conn = my_connect_tcp(argv[1], argv[2]);
if (!conn) {
fprintf(stderr, "Error connecting to server\n");
return 1;
}

// my_transport_read() and my_transport_write() are implemented by the user
nmbs_platform_conf platform_conf;
nmbs_platform_conf_create(&platform_conf);
platform_conf.transport = NMBS_TRANSPORT_TCP;
platform_conf.read = my_transport_read;
platform_conf.write = my_transport_write;
platform_conf.arg = conn;    // Passing our TCP connection handle to the read/write functions

// Create the modbus client
nmbs_t nmbs;
nmbs_error err = nmbs_client_create(&nmbs, &platform_conf);
if (err != NMBS_ERROR_NONE) {
fprintf(stderr, "Error creating modbus client\n");
return 1;
}

// Set only the response timeout. Byte timeout will be handled by the TCP connection
nmbs_set_read_timeout(&nmbs, 1000);

// Write 2 holding registers at address 26
uint16_t w_regs[2] = {123, 124};
err = nmbs_write_multiple_registers(&nmbs, 26, 2, w_regs);
if (err != NMBS_ERROR_NONE) {
fprintf(stderr, "Error writing register at address 26 - %s", nmbs_strerror(err));
return 1;
}

// Read 2 holding registers from address 26
uint16_t r_regs[2];
err = nmbs_read_holding_registers(&nmbs, 26, 2, r_regs);
if (err != NMBS_ERROR_NONE) {
fprintf(stderr, "Error reading 2 holding registers at address 26 - %s\n", nmbs_strerror(err));
return 1;
}

// Close the TCP connection
my_disconnect(conn);

return 0;
}

Installation

Manual

Just copy nanomodbus.c and nanomodbus.h inside your application codebase.

CMake project

nanomodbus supports library linking by using CMake.

FetchContent_Declare(
nanomodbus
GIT_REPOSITORY https://github.com/debevv/nanoMODBUS
GIT_TAG master # or the version you want
GIT_SHALLOW TRUE
)

FetchContent_MakeAvailable(nanomodbus)

#...

add_executable(your_program source_codes)
target_link_libraries(your_program nanomodbus)

API reference

API reference is available in the repository’s GitHub Pages.

Platform functions

nanoMODBUS requires the implementation of 2 platform-specific functions, defined as function pointers when creating a client/server instance.

Transport read/write

int32_t read(uint8_t* buf, uint16_t count, int32_t byte_timeout_ms, void* arg);
int32_t write(const uint8_t* buf, uint16_t count, int32_t byte_timeout_ms, void* arg);

These are your platform-specific functions that read/write data to/from a serial port or a TCP connection. Both methods should block until either:

• count bytes of data are read/written
• the byte timeout, with byte_timeout_ms >= 0, expires

A value < 0 for byte_timeout_ms means infinite timeout. With a value == 0 for byte_timeout_ms, the method should read/write once in a non-blocking fashion and return immediately.

Their return value should be the number of bytes actually read/written, or < 0 in case of error. A return value between 0 and count - 1 will be treated as if a timeout occurred on the transport side. All other values will be treated as transport errors.

Callbacks and platform functions arguments

Server callbacks and platform functions can access arbitrary user data through their void* arg argument. The argument is useful, for example, to pass the connection a function should operate on. Their initial values can be set via the nmbs_set_callbacks_arg and nmbs_set_platform_arg API methods.

Tests and examples

Tests and examples can be built and run on Linux with CMake:

mkdir build && cd build
cmake ..
make

Please refer to examples/arduino/README.md for more info about building and running Arduino examples.

Misc

• To reduce code size, you can define the following #defines:

• NMBS_CLIENT_DISABLED to disable all client code

• NMBS_SERVER_DISABLED to disable all server code

• To disable individual server callbacks, define the following:

• NMBS_SERVER_READ_COILS_DISABLED

• NMBS_SERVER_READ_DISCRETE_INPUTS_DISABLED

• NMBS_SERVER_READ_HOLDING_REGISTERS_DISABLED

• NMBS_SERVER_READ_INPUT_REGISTERS_DISABLED

• NMBS_SERVER_WRITE_SINGLE_COIL_DISABLED

• NMBS_SERVER_WRITE_SINGLE_REGISTER_DISABLED

• NMBS_SERVER_WRITE_MULTIPLE_COILS_DISABLED

• NMBS_SERVER_WRITE_MULTIPLE_REGISTERS_DISABLED

• NMBS_SERVER_READ_FILE_RECORD_DISABLED

• NMBS_SERVER_WRITE_FILE_RECORD_DISABLED

• NMBS_SERVER_READ_WRITE_REGISTERS_DISABLED

• NMBS_SERVER_READ_DEVICE_IDENTIFICATION_DISABLED

• NMBS_STRERROR_DISABLED to disable the code that converts nmbs_errors to strings

• NMBS_BITFIELD_MAX to set the size of the nmbs_bitfield type, used to store coil values (default is 2000)

• Debug prints about received and sent messages can be enabled by defining NMBS_DEBUG