#include "dmk.h"
#include "modbus.h"

uint16_t Is_First_Run = 0;

void handle_dmk_motor(uint16_t velocity, int state)
{
    char ms_100_state = HAL_GetTick() / 300 % 3;

    switch (ms_100_state)
    {
    case 1:
        MB_WriteHoldingReg(1, 0x06A, velocity);
        break;

    case 2:
        if (state == 1)
        {
            MB_WriteHoldingReg(1, 0x033, 0x01);   /* 正转 */
        }
        else if (state == 0)
        {
            MB_WriteHoldingReg(1, 0x033, 0x00);   /* 停止 */
        }
        else if (state == 2)
        {
            MB_WriteHoldingReg(1, 0x033, 0x14);   /* 反转 */
        }
        break;

    case 0:
        MB_WriteHoldingReg(1, 0x000, 0);          /* 设置模式为0 */
        break;
    }
}