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43 lines
1.2 KiB
43 lines
1.2 KiB
/*
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* modbus.h
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*
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* Created on: Jul 3, 2025
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* Author: shiyanlei
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*/
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#ifndef __MODBUS_SLAVE_H
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#define __MODBUS_SLAVE_H
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#include "stm32g0xx_hal.h"
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/* 定义Modbus相关参数 */
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#define MODBUS_SLAVE_ADDRESS 0x42
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#define MODBUS_FUNCTION_CODE_03 0x03
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#define MODBUS_FUNCTION_CODE_06 0x06
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#define MODBUS_FUNCTION_CODE_10 0x10 // 写多个寄存器功能码
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#define MODBUS_BUFFER_SIZE 256
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#define MODBUS_TIMEOUT_MS 5
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#define MODBUS_CRC_OFF 0 //==1关闭CRC校验
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/* 定义寄存器相关参数 */
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#define REGISTER_START_ADDRESS 0x0000
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#define REGISTER_COUNT 10
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extern uint8_t modbusBuffer[MODBUS_BUFFER_SIZE];
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//extern uint16_t holdingRegisters[REGISTER_COUNT];
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extern int16_t holdingRegisters[REGISTER_COUNT];
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#define registerWritable_0 1 //IO_1
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#define registerWritable_1 1 //IO_2
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#define registerWritable_2 0 //Encoder
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#define registerWritable_3 1 //PWM 1-99
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#define registerWritable_4 0 //Current mA
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#define registerWritable_5 1 //Zero Encoder
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#define registerWritable_6 1 //Auto Position Enable
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#define registerWritable_7 1 //Auto Position Target
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#define registerWritable_8 0
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#define registerWritable_9 1 //Auto Position Tolerance
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/* 初始化Modbus从机 */
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void Modbus_Init(void);
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/* 处理Modbus消息 */
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void Modbus_Process(void);
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#endif /* __MODBUS_SLAVE_H */
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