64 lines
1.8 KiB
C
64 lines
1.8 KiB
C
#ifndef _MODBUS_H
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#define _MODBUS_H
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#include <stdint.h>
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#define uint8_t unsigned char
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#define uint16_t unsigned short
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#define uint32 unsigned int
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#define setBit(Add) gBitVar[(Add) >> 3] |= (1 << ((Add)&0x07))
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#define clrBit(Add) gBitVar[(Add) >> 3] &= ~(1 << ((Add)&0x07))
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#define gBIT_SIZE 128
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#define gWORD_SIZE 12288
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#define MODBUS_ANGLE_ADDR 0
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#define MODBUS_SPEED_ADDR 1
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#define MODBUS_PID_FLAG_ADDR 2
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#define MODBUS_P_ADDR 3
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#define MODBUS_I_ADDR 4
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#define MODBUS_D_ADDR 5
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/* 角度 */
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#define BDC_SERVO_INPUT_RANGE 1000
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#define BDC_SERVO_REAL_RANGE (45)
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extern uint8_t gBitVar[(gBIT_SIZE + 7) / 8];
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extern uint16_t gWordVar[gWORD_SIZE];
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/* 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 */
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typedef struct
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{
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/* 从Mudbus服务器端得到设置参数 */
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uint16_t angle;
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uint16_t speed;
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uint16_t pid_flag;
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uint16_t p;
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uint16_t i;
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uint16_t d;
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// uint16_t res;
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/* 发送到Modbus服务器显示的数据 */
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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 */
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uint32_t encoder_accumur;
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uint16_t expect_speedl;
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uint16_t real_speedl; /* 真实速度 */
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uint16_t real_motor_outputl; /* 真实电机输出 */
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uint16_t expect_speedr;
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uint16_t real_speedr; /* 真实速度 */
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uint16_t real_motor_outputr; /* 真实电机输出 */
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} modbus_data_type_t;
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extern modbus_data_type_t *modbus_data;
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extern uint16_t crc16(uint8_t *puchMsg, uint16_t usDataLen);
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int isBitHI(uint16_t Add);
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extern int ModbusSlaveProcess(uint8_t *txbuf, uint8_t *rxbuf, uint16_t rxLen, int is_crc);
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void ModBusWordWriteHook(uint16_t addr, uint16_t length);
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#endif
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