Hardware-Communication-Using-MISRA-C-Guideline

Hardware communication using the MODBUS UDP protocol ensures reliable, real-time data exchange between controllers and devices over Ethernet. Implemented in MISRA C for safety-critical systems, it enforces robust coding standards, minimizing errors and enhancing portability, maintainability, and deterministic performance.

🌀 Dual-Axis Motor Control System (Modbus UDP)

This project implements a dual-axis (Pan & Tilt) motor control and feedback system using the Modbus UDP protocol.
It provides a command-line interface (CLI) to control both motors, read feedback, perform park motions, and check limit switch angles safely.

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⚙️ Features

• ✅ Modbus UDP-based communication
• ✅ Independent Pan and Tilt control
• ✅ Real-time feedback (position, speed, encoder counts)
• ✅ ON/OFF and Park Motion commands
• ✅ Limit switch state and angle monitoring
• ✅ Safe motor shutdown before exit

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🧩 Project Structure

Hardware Communication/
│
├── include/
│ ├── config.h
│ ├── drive_control.h
│ ├── drive_feedback.h
│ ├── limit_angle.h
│ └── modbus_udp.h
│
├── src/
│ ├── drive_control.c
│ ├── drive_feedback.c
│ ├── limit_angle.c
│ ├── main.c
│ └── modbus_udp.c
│
├── test/
│ ├── test_drive_control.c
│ ├── test_drive_control.exe
│ ├── test_drive_feedback.c
│ ├── test_drive_feedback.exe
│ ├── test_limit_angle.c
│ ├── test_limit_angle.exe
│ ├── test_modbus_udp.exe
│ ├── unity.c
│ ├── unity.h
│ └── unity_internals.h
│
├── drive_control.c.gcov
├── dual_axis_app.exe
├── makefile
└── wcs_cmd_eth.exe
└── README.md

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Requirements

Component	Description
OS	Windows (tested with MinGW64)
Compiler	GCC (MinGW)
Dependencies	Winsock2 (Windows Sockets API)
Tools	make (for automated build)

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Menu Options

Option	Description
1	Turn ON Pan Motor
2	Turn OFF Pan Motor
3	Turn ON Tilt Motor
4	Turn OFF Tilt Motor
5	Read Encoder Feedback (Pan & Tilt)
6	Execute Park Motion (Both Motors)
7	Read Limit Switch Angles (Pan & Tilt)
0	Exit Program

Source File Descriptions

File	Description
main.c	Main program entry with menu-based control
modbus_udp.c / .h	Handles UDP socket communication
drive_control.c / .h	Sends ON/OFF and Park commands
drive_feedback.c / .h	Reads position, speed, encoder count feedback
limit_angle.c / .h	Reads limit switch states and corresponding angles
config.h	Defines IP, port, and system constants
Makefile	Automates build and clean operations

Developer Notes

• Ensure the drive controllers and PC are on the same subnet.
• Adjust encoder scaling or gearbox ratio in feedback logic if required.
• Limit switch readings are safety-critical — test carefully before operation.
• For continuous control, integrate a real-time task or event loop.