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

#ifndef __MODBUS_SLAVE_H
#define __MODBUS_SLAVE_H

#include "stm32g0xx_hal.h"
/* 定义Modbus相关参数 */
#define MODBUS_SLAVE_ADDRESS 0x42
#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 5
#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
extern uint8_t modbusBuffer[MODBUS_BUFFER_SIZE];
//extern uint16_t holdingRegisters[REGISTER_COUNT];
extern int16_t holdingRegisters[REGISTER_COUNT];
#define registerWritable_0 1 //IO_1
#define registerWritable_1 1 //IO_2
#define registerWritable_2 0 //Encoder
#define registerWritable_3 1 //PWM 1-99
#define registerWritable_4 0 //Current mA
#define registerWritable_5 1 //Zero Encoder
#define registerWritable_6 1 //Auto Position Enable
#define registerWritable_7 1 //Auto Position Target
#define registerWritable_8 0
#define registerWritable_9 1 //Auto Position Tolerance

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

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

#endif /* __MODBUS_SLAVE_H */