#ifndef _MODBUS_H
#define _MODBUS_H
#include <stdint.h>

#define uint8_t unsigned char
#define uint16_t unsigned short
#define uint32 unsigned int

#define setBit(Add) gBitVar[(Add) >> 3] |= (1 << ((Add)&0x07))
#define clrBit(Add) gBitVar[(Add) >> 3] &= ~(1 << ((Add)&0x07))

#define gBIT_SIZE 128
#define gWORD_SIZE 12288

#define MODBUS_ANGLE_ADDR 0
#define MODBUS_SPEED_ADDR 1
#define MODBUS_PID_FLAG_ADDR 2
#define MODBUS_P_ADDR     3
#define MODBUS_I_ADDR     4
#define MODBUS_D_ADDR     5

/* 角度 */
#define BDC_SERVO_INPUT_RANGE   1000
#define BDC_SERVO_REAL_RANGE    (45)

extern uint8_t gBitVar[(gBIT_SIZE + 7) / 8];
extern uint16_t gWordVar[gWORD_SIZE];


/* modbus的寄存器数据含义，建议都定义在这个文件内，这样的话定义的时候就可以观察是否定义有冲突 */
typedef struct
{
    /* 从Mudbus服务器端得到设置参数 */       
    uint16_t angle;
    uint16_t speed; 

    uint16_t pid_flag;
    uint16_t p;
    uint16_t i;
    uint16_t d;
  //  uint16_t res;

    /* 发送到Modbus服务器显示的数据 */
    uint32_t encoder_accumul;    /*  编码器的累计值  修正：可能装不下，考虑用多少位的来扩展 */
    uint32_t encoder_accumur;

    uint16_t expect_speedl;
    uint16_t real_speedl;    /* 真实速度 */    
    uint16_t real_motor_outputl;         /* 真实电机输出 */

    uint16_t expect_speedr;
    uint16_t real_speedr;    /* 真实速度 */    
    uint16_t real_motor_outputr;         /* 真实电机输出 */
} modbus_data_type_t;

extern modbus_data_type_t *modbus_data;

extern uint16_t crc16(uint8_t *puchMsg, uint16_t usDataLen);
int isBitHI(uint16_t Add);
extern int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_crc);
void ModBusWordWriteHook(uint16_t addr, uint16_t length);

#endif