/*
 * modbus.h
 *
 *  Created on: Jul 3, 2025
 *      Author: shiyanlei
 */

#ifndef __MODBUS_SLAVE_H
#define __MODBUS_SLAVE_H

#include "stm32g4xx_hal.h"
/* 定义Modbus相关参数 */
#define MODBUS_SLAVE_ADDRESS 0x34
#define MODBUS_FUNCTION_CODE_03 0x03
#define MODBUS_FUNCTION_CODE_06 0x06
#define MODBUS_FUNCTION_CODE_10 0x10  // 写多个寄存器功能码
#define MODBUS_BUFFER_SIZE 256
#define MODBUS_TIMEOUT_MS 2
#define MODBUS_CRC_OFF 0 //==1关闭CRC校验
/* 定义寄存器相关参数 */
#define REGISTER_START_ADDRESS 0x0000
//#define REGISTER_COUNT 10
#define REGISTER_COUNT 12

extern uint16_t holdingRegisters[REGISTER_COUNT];
extern uint8_t RS485_1_RX;
extern uint8_t RS485_1_Host_Existed;

#define registerWritable_0 1
#define registerWritable_1 1
#define registerWritable_2 1
#define registerWritable_3 1
#define registerWritable_4 1
#define registerWritable_5 1
#define registerWritable_6 1
#define registerWritable_7 1
#define registerWritable_8 1
#define registerWritable_9 1
#define registerWritable_10 1
#define registerWritable_11 1


//holdingRegisters[0]= motor_cmd //0:stop	1:forward	2:reverse
//holdingRegisters[1]= HX711_A_F //int16_t 10g
//holdingRegisters[2]= HX711_K   //uint16_t
//holdingRegisters[3]= HX711_D   //int16_t 1g
//holdingRegisters[4]= HX711_B_F //int16_t 10g



extern void MB_WriteHoldingReg(uint8_t _addr,
		uint16_t _reg, uint16_t _data);

/* 初始化Modbus从机 */
void Modbus_Init(void);

/* 处理Modbus消息 */
void Modbus_Process(void);

#endif /* __MODBUS_SLAVE_H */