#include "KMotionDef.h"
#include "ModBusMaster.h"
#define TMP 10 // which spare persist to use to transfer data
#include "KflopToKMotionCNCFunctions.c"

// Default Initial Configuration for 3 Axis Analog DAC Servo with encoder feedback
//
// Note Low Gains, Limited Max Limits, No Limit Options, No Soft Limits, 
// Large allowed Following Error, No Feed Forward, No Filters, etc

#define ESTOP_BIT 180
#define ENBL_DRV 159

#define M3 			48
#define M5 			49
#define M30 		50
#define CYCLE_START	51
#define HALT		52
#define STOP		53
#define FEEDHOLD 	54
#define RESUME 		55
#define PROG_START	56
#define PROG_EXIT	57
#define M100		60
#define M101		61	
#define M102		62

#define SPINDLE_ON	151	

#define BUZZER			1024
#define VICE_CLOSE		1025
#define VICE_OPEN		1026 
#define MACHINE_LOCK	1027
#define OIL_PRESSURE	1028
#define COOLING_OIL_EXT	1029
#define OIL_PULSES_EXT	1030
#define OIL_PULSES_OUT	1031


#define VICE_DWN		1045
#define VICE_UP			1046
#define COLLISION		1047

//************************************************************************
//START - CODE FOR MODBUS RTU MASTER

unsigned short MBRegisters[N_MB_REGISTERS];	// 64 bits

// Constants
int ModbusMaster_MaxRetry=3;
double ModbusMaster_Timeout=0.5; 		//seconds for no response for a send command
double ModbusMaster_ResponseTime; 	//seconds for last PLC response
double ModbusMaster_CommandSentTime;

// status and performance counters
double ModbusMaster_MonitorStartTime=0;	// start of most recent monitor cycle
double ModbusMaster_MonitorCycleTime=0;	// seconds to call all commands in Monitor list
int ModbusMaster_TallyConnections=0;	// Number of times Connection list has been sent
int ModbusMaster_TallyCommands=0;		// Commands since connection
int ModbusMaster_TallyRetries=0;		// Retries since connection

// statuses, counters, etc
int ModbusMaster_List=0;	// 0=connect, 1=monitor
int ModbusMaster_Connected=0;
int ModbusMaster_MonitorIndex=0;
int ModbusMaster_ConnectIndex=0;
int ModbusMaster_Idle=0;	// 0=idle, 1=await reply
int ModbusMaster_Retry=0;

double ModbusMaster_LastInTime=0;
double ModbusMaster_EndOfPacketWait=3.5*10/9600; // wait 3.5 characters after a packet 9600=baud rate)
//double ModbusMaster_EndOfPacketWait=3.5*10/38400; // wait 3.5 characters after a packet 9600=baud rate)
char ModbusMaster_packetBuild[256]; // max length of modbus frame
int ModbusMaster_packetSize=0;

typedef enum
{
	MBERROR_NONE = 0,
	// Modbus codes; reported with Modbus error packet
	MBERROR_ILLEGAL_FUNCTION = 1,
	MBERROR_ILLEGAL_DATA_ADDRESS = 2,	// used
	MBERROR_ILLEGAL_DATA_VALUE = 3,	// used
	MBERROR_SLAVE_DEVICE_FAILURE = 4,
	MBERROR_ACKNOWLEDGE = 5,
	MBERROR_SLAVE_DEVICE_BUSY = 6,
	MBERROR_NEGATIVE_ACKNOWLEDGE = 7,
	MBERROR_MEMORY_PARITY_ERROR = 8,
	// internal codes
	INTERROR_WRONG_DEVICE = 9,
	INTERROR_CHECKSUM = 10,
	INTERROR_TIMEOUT = 11,
} MBErrors;

//END - CODE FOR MODBUS RTU MASTER
//************************************************************************


void main()
{
	SetBit(ENBL_DRV);  // enable AMPS
	
	ch0->InputMode=ENCODER_MODE;
	ch0->OutputMode=DAC_SERVO_MODE;
	ch0->Vel=80000; //102400
	ch0->Accel=200000;
	ch0->Jerk=4e+06;
	ch0->P=5;
	ch0->I=0;
	ch0->D=0;
	ch0->FFAccel=0;
	ch0->FFVel=0;
	ch0->MaxI=0;
	ch0->MaxErr=40960;
	ch0->MaxOutput=130000;
	ch0->DeadBandGain=1;
	ch0->DeadBandRange=0;
	ch0->InputChan0=0;
	ch0->InputChan1=1;
	ch0->OutputChan0=0;
	ch0->OutputChan1=1;
	ch0->MasterAxis=-1;
	ch0->LimitSwitchOptions=0x120;
	ch0->LimitSwitchNegBit=0;
	ch0->LimitSwitchPosBit=0;
	ch0->SoftLimitPos=4.6e+06;
	ch0->SoftLimitNeg=-1000;
	ch0->InputGain0=-1;
	ch0->InputGain1=1;
	ch0->InputOffset0=0;
	ch0->InputOffset1=0;
	ch0->OutputGain=-1;
	ch0->OutputOffset=0;
	ch0->SlaveGain=1;
	ch0->BacklashMode=BACKLASH_OFF;
	ch0->BacklashAmount=0;
	ch0->BacklashRate=0;
	ch0->invDistPerCycle=1;
	ch0->Lead=0;
	ch0->MaxFollowingError=1000000; //8192;
	ch0->StepperAmplitude=250;

	ch0->iir[0].B0=1;
	ch0->iir[0].B1=0;
	ch0->iir[0].B2=0;
	ch0->iir[0].A1=0;
	ch0->iir[0].A2=0;

	ch0->iir[1].B0=1;
	ch0->iir[1].B1=0;
	ch0->iir[1].B2=0;
	ch0->iir[1].A1=0;
	ch0->iir[1].A2=0;

	ch0->iir[2].B0=1;
	ch0->iir[2].B1=0;
	ch0->iir[2].B2=0;
	ch0->iir[2].A1=0;
	ch0->iir[2].A2=0;
    
	ch1->InputMode=ENCODER_MODE;
	ch1->OutputMode=DAC_SERVO_MODE;
	ch1->Vel=102400;
	ch1->Accel=307200;
	ch1->Jerk=4e+06;
	ch1->P=1.0;
	ch1->I=0;
	ch1->D=0;
	ch1->FFAccel=0;
	ch1->FFVel=0;
	ch1->MaxI=0;
	ch1->MaxErr=40960;
	ch1->MaxOutput=102400;
	ch1->DeadBandGain=1;
	ch1->DeadBandRange=0;
	ch1->InputChan0=1;
	ch1->InputChan1=1;
	ch1->OutputChan0=1;
	ch1->OutputChan1=1;
	ch1->MasterAxis=-1;
	ch1->LimitSwitchOptions=0x120;
	ch1->LimitSwitchNegBit=0;
	ch1->LimitSwitchPosBit=0;
	ch1->SoftLimitPos=420000;
	ch1->SoftLimitNeg=-1000;
	ch1->InputGain0=1;
	ch1->InputGain1=1;
	ch1->InputOffset0=0;
	ch1->InputOffset1=0;
	ch1->OutputGain=-1;
	ch1->OutputOffset=0;
	ch1->SlaveGain=1;
	ch1->BacklashMode=BACKLASH_OFF;
	ch1->BacklashAmount=0;
	ch1->BacklashRate=0;
	ch1->invDistPerCycle=1;
	ch1->Lead=0;
	ch1->MaxFollowingError=4096;
	ch1->StepperAmplitude=250;

	ch1->iir[0].B0=1;
	ch1->iir[0].B1=0;
	ch1->iir[0].B2=0;
	ch1->iir[0].A1=0;
	ch1->iir[0].A2=0;

	ch1->iir[1].B0=1;
	ch1->iir[1].B1=0;
	ch1->iir[1].B2=0;
	ch1->iir[1].A1=0;
	ch1->iir[1].A2=0;

	ch1->iir[2].B0=1;
	ch1->iir[2].B1=0;
	ch1->iir[2].B2=0;
	ch1->iir[2].A1=0;
	ch1->iir[2].A2=0;
	
	ch2->InputMode=ENCODER_MODE;
	ch2->OutputMode=DAC_SERVO_MODE;
	ch2->Vel=102400;
	ch2->Accel=307200;
	ch2->Jerk=4e+06;
	ch2->P=2;
	ch2->I=0;
	ch2->D=0;
	ch2->FFAccel=0;
	ch2->FFVel=0;
	ch2->MaxI=0;
	ch2->MaxErr=40960;
	ch2->MaxOutput=102400;
	ch2->DeadBandGain=1;
	ch2->DeadBandRange=0;
	ch2->InputChan0=2;
	ch2->InputChan1=1;
	ch2->OutputChan0=2;
	ch2->OutputChan1=1;
	ch2->MasterAxis=-1;
	ch2->LimitSwitchOptions=0x120;
	ch2->LimitSwitchNegBit=0;
	ch2->LimitSwitchPosBit=0;
	ch2->SoftLimitPos=486700;
	ch2->SoftLimitNeg=-28000;
	ch2->InputGain0=-1;
	ch2->InputGain1=1;
	ch2->InputOffset0=0;
	ch2->InputOffset1=0;
	ch2->OutputGain=1;
	ch2->OutputOffset=0;
	ch2->SlaveGain=1;
	ch2->BacklashMode=BACKLASH_OFF;
	ch2->BacklashAmount=0;
	ch2->BacklashRate=0;
	ch2->invDistPerCycle=1;
	ch2->Lead=0;
	ch2->MaxFollowingError=4096;
	ch2->StepperAmplitude=250;

	ch2->iir[0].B0=1;
	ch2->iir[0].B1=0;
	ch2->iir[0].B2=0;
	ch2->iir[0].A1=0;
	ch2->iir[0].A2=0;

	ch2->iir[1].B0=1;
	ch2->iir[1].B1=0;
	ch2->iir[1].B2=0;
	ch2->iir[1].A1=0;
	ch2->iir[1].A2=0;

	ch2->iir[2].B0=1;
	ch2->iir[2].B1=0;
	ch2->iir[2].B2=0;
	ch2->iir[2].A1=0;
	ch2->iir[2].A2=0;

    EnableAxis(0);
	EnableAxis(1);
	EnableAxis(2);

    DefineCoordSystem(0,1,2,-1);
    
    //************************************************************************
	//START MAIN AREA MODBUS RTU CODE
	ModbusMaster_Init();
	int reportsecs=20;
	double starttime;;
	double MonitorStartTime=0;	// start of most recent monitor cycle
	double MonitorCycleTime=0;	// seconds to call all commands in Monitor list
	int TallyConnections=0;	// Number of times Connection list has been sent
	int TallyCommands=0;	// Commands since connection
	int TallyRetries=0;	// Retries since connection

	starttime=Time_sec();
	TallyCommands=ModbusMaster_TallyCommands;
	//END MODBUS RTU CODE
	//************************************************************************

    
    for (;;)  //loop forever
	{
		WaitNextTimeSlice();
		Delay_sec(0.01); //TIME IS VERY CRITICAL, GOING BEYOND THIS VALUE IS NOT RECOMMENDED 

		//************************************************************************
		
		//************************************************************************
		//START MODBUS RTU MAIN LOOP CODE
		ModbusMaster_Loop();
		//END MODBUS RTU MAIN LOOP CODE
		//************************************************************************

		if ((!ch0->Enable) || (!ch1->Enable) || (!ch2->Enable))
		{
			ClearBit(159);
		}
		
		if(ReadBit(HALT)){
			DoHalt();
		}
		if(ReadBit(M3)){
			DoM3();
		}
		if(ReadBit(M5)){
			DoM5();
		}
		if(ReadBit(M100)){
			DoM100();
		}
		if(ReadBit(M101)){
			DoM101();
		}
		if(ReadBit(M102)){
			DoM102();
		}
		if(ReadBit(FEEDHOLD)){
			DoFeedhold();
		}
		if(ReadBit(RESUME)){
			DoResume();
		}
		if(ReadBit(M30)){
			DoEndProgram();
		}

	}

}

//************************************************************************
//START MODBUS RTU FUNCTION BLOCKS


typedef struct ModbusMaster_sCmds
{
	char *start; // has "dev,cmd,adrhi,adrlo,lenhi,lenlo" bytes of modbus command. Not data and Not checksum.
	int len; // length of start string. commonly 6
	int reg; // reg# is the start index into the MBRegisters array for the command
} ModbusMaster_Cmds;

ModbusMaster_Cmds *ModbusMaster_SentPtr; // pointer to current command. used to send, resend, interpret response.

ModbusMaster_Cmds ModbusMaster_ConnectList[] =
{
	// string is "dev,cmd,adrhi,adrlo,lenhi,lenlo" bytes of modbus command. bytelen, data, and checksum are added.
	{"\x01\x04\x00\xD2\x00\x06", 6, 2},	// Collect PLC firmware info block MBRegisters[10] for 6 registers
	{0,0,0}	// end flag
};

ModbusMaster_Cmds ModbusMaster_MonitorList[] =
{
	// string is "dev,cmd,adrhi,adrlo,lenhi,lenlo" bytes of modbus command. bytelen, data, and checksum are added as necessary.

		//WRITE OUTPUTS
		{"\x01\x0F\x00\x10\x00\x08", 6, 0},	//STATION 01 Write Extended Virtual Bits 1024-1031 to outputs via MBRegisters[0] 8 DO
		//{"\x02\x0F\x00\x10\x00\x08", 6, 1},	//STATION 01 Write Extended Virtual Bits 1024-1031 to outputs via MBRegisters[0] 8 DO
		//READ INPUTS	
		{"\x01\x01\x00\x00\x00\x08", 6, 2},	//STATION 01 Read 8 IN 8 address plc inputs 1040-1047 and store them to MBRegisters[2] 8 INPUTS
		//{"\x02\x01\x00\x00\x00\x08", 6, 3},	//STATION 01 Read 8 IN 8 address plc inputs 1040-1047 and store them to MBRegisters[2] 8 INPUTS
		{0,0,0}	// end flag
};

void ModbusMaster_Init()
{
	//MBRegisters[0]=0;
	printf("\nModbus Master Init\n");
	EnableRS232Cmds(RS232_BAUD_19200);
	DoRS232Cmds = FALSE;  // turn off processing RS232 input as commands
	ModbusMaster_LastInTime=Time_sec();
	ModbusMaster_EndOfPacketWait=3.5*10.0/19200; // wait 3.5 characters after a packet
	ModbusMaster_packetSize=0;

	ModbusMaster_Idle=0;
	ModbusMaster_SentPtr=&ModbusMaster_ConnectList[0];

	int c;
	for (c=0;c<N_MB_REGISTERS;c++)
		MBRegisters[c]=0;

	// make the register static arrays available to the other threads
	persist.UserData[PERSIST_MBREG_BLOCK_ADR]=(int)MBRegisters;
	//printf("persist.UserData[%d]<=%u\n",PERSIST_MBREG_BLOCK_ADR,MBRegisters); //debug
	
}

char* strncpy(char *dst,char* src,int len)
{
	int i;
	for (i=0;i<len;i++)
		dst[i]=src[i];
	return dst;
}

// Organize and move adam values 0-31 from Adam/Slave into MBRegisters to KFlop memory
void ModbusMaster_RegUnload()
{
	int i;
	int j;
	int k;
	int l;
	int m;
	int n;
	
	for (i=0; i<8; i++)
		{
		SetStateBit(1040+i,(MBRegisters[2]>>i)&1);  // plc1 inputs 0-7 to virtual bits 1040-1047
	    }

 	for (j=0; j<8; j++)
		 {
			SetStateBit(1048+j,(MBRegisters[3]>>j)&1);  // plc1 inputs 0-7 to virtual bits 1048-1055 
		 }
}

// Organize and move virtual bits from KFLOP to Adam/Slave via MBRegisters
void ModbusMaster_RegLoad()
{
	
	MBRegisters[0] = (VirtualBitsEx[0])&0xFF; //1024-1031 Adam 4055 D00-DO7
	MBRegisters[1] = (VirtualBitsEx[0]>>8)&0xFF; //1032-1039 DVPSA-SP16 Y0-Y7

}

static unsigned char auchCRCHi[] = {
	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
	0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
	0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
	0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
	0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
	0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
	0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
	0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
	0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
	0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
	0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
	0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
	0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
	0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
	0x40
} ;

static char auchCRCLo[] = {
	0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
	0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
	0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
	0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
	0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
	0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
	0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
	0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
	0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
	0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
	0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
	0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
	0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
	0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
	0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
	0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
	0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
	0x40
} ;


unsigned short CRC16(unsigned char *puchMsg,unsigned short usDataLen)
{
	unsigned char uchCRCHi = 0xff;
	unsigned char uchCRCLo = 0xff;
	unsigned int uIndex;
	while(usDataLen--)
	{
		uIndex = uchCRCLo ^ *puchMsg++;
		uchCRCLo = uchCRCHi ^ auchCRCHi[uIndex];
		uchCRCHi = auchCRCLo[uIndex];
	}
	return (uchCRCHi<<8|uchCRCLo);
}

void ModbusMaster_NextCmd(MBErrors ecode)
{
	if (ecode) printf("ModbusMaster_NextCmd(%d)\n",ecode); //debug
		ModbusMaster_Idle=0; // ready to send a new command
	if (INTERROR_TIMEOUT==ecode)
	{
		if (ModbusMaster_List)
			ModbusMaster_Connected=0;
	}
	if (ModbusMaster_List)
	{
		ModbusMaster_MonitorIndex++;
		if (!ModbusMaster_MonitorList[ModbusMaster_MonitorIndex].start)
		{
			ModbusMaster_MonitorIndex=0;
			ModbusMaster_MonitorCycleTime=Time_sec()-ModbusMaster_MonitorStartTime;
			ModbusMaster_MonitorStartTime=Time_sec();
		}
	}
	else
	{
		ModbusMaster_ConnectIndex++;
		if (!ModbusMaster_ConnectList[ModbusMaster_ConnectIndex].start)
			ModbusMaster_List=1;	// continue monitor list, do not restart here
	}
	if (INTERROR_TIMEOUT!=ecode&&0==ModbusMaster_Connected)
	{
		ModbusMaster_Connected=1;
		ModbusMaster_List=0;
		ModbusMaster_ConnectIndex=0;

		ModbusMaster_TallyConnections++;
		ModbusMaster_TallyCommands=0;
		ModbusMaster_TallyRetries=0;
	}

	if (!ModbusMaster_List)
		ModbusMaster_SentPtr=&ModbusMaster_ConnectList[ModbusMaster_ConnectIndex];
	else
		ModbusMaster_SentPtr=&ModbusMaster_MonitorList[ModbusMaster_MonitorIndex];
}

void ModbusMaster_Send(int verbose)
{
	// send the command currently pointed to by ModbusMaster_SentPtr
	//printf("ModbusMaster_Send(%d)\n",verbose);

	char *chp;
	int x;
	unsigned char *xp;

	if (!ModbusMaster_List)
		printf("List:%d ConnectIndex:%d MonitorIndex:%d\n",
				ModbusMaster_List,ModbusMaster_ConnectIndex,ModbusMaster_MonitorIndex);

	if (!ModbusMaster_SentPtr->start)
	{
		printf("ModbusMaster_Send: Tried to execute at end list\n");
		ModbusMaster_NextCmd(MBERROR_NONE);
	}

	strncpy(ModbusMaster_packetBuild,ModbusMaster_SentPtr->start,ModbusMaster_SentPtr->len);
	chp=&ModbusMaster_packetBuild[ModbusMaster_SentPtr->len];
	switch(ModbusMaster_packetBuild[1])
	{
		case 0x0F:
			ModbusMaster_RegLoad();
			*chp++=1;
			*chp++=MBRegisters[ModbusMaster_SentPtr->reg]&0xFF;
			break;
		case 0x01:	// RO Read	
		case 0x02:	// RO Read
		case 0x03:	// RO Read
		case 0x04: 	// RW Read
			break;
		default:
			printf("Unexpected default: ModbusMaster_Send(), Function %d\n",ModbusMaster_packetBuild[1]); //debug
			break;
	}
	int csum=CRC16(ModbusMaster_packetBuild,chp-ModbusMaster_packetBuild);
	*chp++=csum&0xFF;
	*chp++=(csum>>8)&0xFF;

	if (verbose) printf("Tx:"); //debug
	for (xp=ModbusMaster_packetBuild;xp<chp;xp++)
	{
		RS232_PutChar(*xp);
		if (verbose) printf("%02x;",*xp); //debug
	}
	if (verbose) printf("\n"); //debug

	ModbusMaster_LastInTime=Time_sec();
	ModbusMaster_Idle=1;
}

MBErrors Process_Data(unsigned char *Buffer, unsigned char Count)
{
	int regndx;
	int cnt;
	int x;
	unsigned short CRC = (((Buffer[Count-1]<<8)&0xFF00)|(Buffer[Count-2]&0xFF));	// Received CRC
	unsigned short Recalculated_CRC = CRC16(Buffer,Count-2);	// Computed CRC
	if(Recalculated_CRC != CRC)
	{
		printf("Count %d\n",Count);
		printf("Checksum: Theirs:%04X Mine:%04X, %d chars\n",CRC,Recalculated_CRC,Count); //debug
		return INTERROR_CHECKSUM;
	}

	//printf("Packet %d\n",CRC);    //debug

	switch(Buffer[1])
	{
		case 0x01:	// RO Read
		case 0x04:
			regndx=ModbusMaster_SentPtr->reg;
			
			cnt=Buffer[2];
			for (x=0;x<cnt;x+=2)
				MBRegisters[regndx++]=((Buffer[4+x]<<8)&0xFF00)|(Buffer[3+x]&0x00FF); //CORRECTION MADE BY TK
				ModbusMaster_RegUnload();
			break;
		case 0x10:
		case 0x0F:
		case 0x05:
			// no action on successful write
			break;
		default:
			printf("Unexpected default>: Process_Data(), Buffer[1]=%x\n",Buffer[1]);
			break;
	}

	return MBERROR_NONE;	//We made it to the end, return
}



void ModbusMaster_Monitor()
{
	char c;

	if (pRS232RecIn != pRS232RecOut)
	{
		ModbusMaster_LastInTime=Time_sec();
		while (pRS232RecIn != pRS232RecOut) // data in buffer
		{
			c=RS232_GetChar();
			if (ModbusMaster_packetSize<255)
				ModbusMaster_packetBuild[ModbusMaster_packetSize++]=c;
				//printf("%02x\n,",c&0xFF); //debug
		}
	}
	else
	{
		if (ModbusMaster_LastInTime+ModbusMaster_EndOfPacketWait<Time_sec() && ModbusMaster_packetSize)
		{
			int rtrn=Process_Data(ModbusMaster_packetBuild,ModbusMaster_packetSize);
			ModbusMaster_packetSize=0;	// ready for next packet
			if (!rtrn)
			{
				ModbusMaster_TallyCommands++;
				ModbusMaster_NextCmd(rtrn);
				return;
			}
			printf("Error=%d, %f\n",rtrn,ModbusMaster_LastInTime+ModbusMaster_EndOfPacketWait-Time_sec());	//debug
			//d printf("\n",c);	//debug
		}
		if (ModbusMaster_LastInTime+ModbusMaster_Timeout<Time_sec())	// retry test
		{
			ModbusMaster_Retry++;
			ModbusMaster_TallyRetries++;
			printf("ModbusMaster_Retry:%d\n",ModbusMaster_Retry); //debug
			if (ModbusMaster_Retry>ModbusMaster_MaxRetry)
			{
				printf("Failed Monitor message %d\n",ModbusMaster_MonitorIndex); //debug
				ModbusMaster_ConnectIndex=0;	// reset connection
				ModbusMaster_NextCmd(INTERROR_TIMEOUT);
			}
			else
			{
				ModbusMaster_Send(1);
			}
		}
	}
}


void ModbusMaster_Loop()
{
	if(!ModbusMaster_Idle)
	{
		int x;
		ModbusMaster_Send(0);
		ModbusMaster_Retry=0;
	}
	else
		ModbusMaster_Monitor();
}
//END MODBUS FUNCTION BLOCKS
//************************************************************************

//	----------------------------
//		Halt   Function
//	----------------------------
void DoHalt(void){

	ClearBit(HALT);
}

//	----------------------------
//			M 3     Function
//	----------------------------
void DoM3(void)
{
	SetBit(SPINDLE_ON);
	ClearBit(M3);
}

//	-----------------------------
//			M 5     Function
//	-----------------------------
void DoM5(void)
{
	ClearBit(SPINDLE_ON);	
	ClearBit(M5);
}

//	-----------------------------
//		M 1 0 0   Function
//	-----------------------------
void DoM100(void){
	if(!ReadBit(59)){
		//DoPC(PC_COMM_HALT_NEXT_LINE);
		DoPC(PC_COMM_HALT);
		Jog(0,5000);
		SetBit(59);
	}	
	if( (!ReadBit(1043)) || (!ReadBit(1044)) ){
		Jog(0,0);
		MDI("G92X360");	// The drill offset
		ClearBit(M100);
		ClearBit(59);
		DoPC(PC_COMM_EXECUTE);
	}	
}

//	----------------------------
//			M101    Function
//	----------------------------
void DoM101(void)
{
	StopCoordinatedMotion();
	ClearBit(VICE_OPEN);
	SetBit(VICE_CLOSE);
	SetBit(MACHINE_LOCK);
	SetBit(OIL_PRESSURE);
	if(ReadBit(VICE_DWN)){
		ClearBit(M101);
		ResumeCoordinatedMotion();
	}	
}

//	----------------------------
//			M102   Function
//	----------------------------
void DoM102(void)
{
	StopCoordinatedMotion();
	ClearBit(VICE_CLOSE);
	ClearBit(MACHINE_LOCK);
	SetBit(VICE_OPEN);
	SetBit(OIL_PRESSURE);
	if(ReadBit(VICE_UP)){
		ClearBit(VICE_OPEN);
		ClearBit(OIL_PRESSURE);
		ClearBit(M102);
		ResumeCoordinatedMotion();
	}	
}


//	-----------------------------
//    F E E D H O L D  Function
//	-----------------------------
void DoFeedhold(void){

	ClearBit(FEEDHOLD);
}

//	-----------------------------
//    R E S U M E   Function
//	-----------------------------
void DoResume(void){

	ClearBit(RESUME);
}

//	------------------------------------
//    E N D   P R O G R A M   Function
//	------------------------------------
void DoEndProgram(void){
	
	StopCoordinatedMotion();
	ClearBit(VICE_CLOSE);
	ClearBit(MACHINE_LOCK);
	SetBit(VICE_OPEN);
	SetBit(OIL_PRESSURE);
	if(ReadBit(VICE_UP)){
		ClearBit(VICE_OPEN);
		ClearBit(OIL_PRESSURE);
		ClearBit(M102);
		ResumeCoordinatedMotion();
	}				
	ClearBit(M30);
}