/*
 * @Author: DaMing zxm5337@163.com
 * @Date: 2024-03-28 09:58:33
 * @LastEditors: 张小明 zxm5337@163.com
 * @LastEditTime: 2024-05-20 18:48:22
 * @FilePath: \Proxi_CheckBoard\User\App\motor.h
 * @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 */
#ifndef __COMMUNICATION_H__
#define __COMMUNICATION_H__
#include "data_type_def.h"
#include "usart.h"

#define BUFFER_SIZE 256

#define TASK_DUTY 1
#define DELAY_OUT_MS 5000
#define DELAY_OUT DELAY_OUT_MS / TASK_DUTY

#define TEMPERATURE_MAX 100.0f
#define TEMPERATURE_MIN -100.0f

#define ADDR_REMOTE 0XA1
#define ADDR_LOCAL 0XB1

#define PARSE_HEAD 0X05
#define PARSE_TAIL 0X1B

#define CHECK_NUM 0XCD40

typedef enum
{
    CMD_NO_PROC = 0X00,
    CMD_SET_DIST,
    CMD_GET_TIME,
    CMD_SET_FREQ,
    CMD_ZERO_DIST,
    CMD_RATED_DIST,
    CMD_ERR_COMDE
} cmd_e;

typedef enum
{
    STATE_MOTOR_STOP = 0X00,
    STATE_MOTOR_RUN,
    STATE_MOTOR_NEAR,
    STATE_MOTOR_FAR
} state_e;

typedef enum
{
    MODE_MANUL = 0X00,
    MODE_AUTO
} mode_e;

typedef struct
{
    BOOL rx_flag;
    BOOL tx_flag;
    BOOL con_flag;
    BOOL lvdt_flag;
    BOOL upsend_flag;
    uint8_t *tx_buf;
    uint8_t *rx_buf;
    uint8_t rx_index;
    uint8_t addr;
    uint8_t cmd;
    uint16_t upsend_delay;
    uint16_t upsend_count;
    uint16_t reg_start;
    uint16_t reg_num;
    uint16_t crc;
    uint16_t delay_out;
    float32 distance;
    float32 temperature;
    UART_HandleTypeDef huart;
    DMA_HandleTypeDef hdma_uart_rx;
} modbus_rtu_t;

typedef struct
{
    uint8_t head;
    uint8_t tail;
    uint8_t lenth;
    uint8_t state;
    uint8_t mode;
    uint8_t director;
    uint8_t sn;
    uint16_t step;
    uint16_t run_duty;
    uint16_t vol_sv;
    uint16_t function;
    uint16_t check;
    uint16_t local_addr;
    uint16_t remote_addr;
} self_parse_t;
extern cmd_e cmd_tppe;
extern uint8_t rtu_rx_buf_A[BUFFER_SIZE];
extern uint8_t rtu_rx_buf_B[BUFFER_SIZE];
extern uint8_t rtu_rx_buf_hmi[BUFFER_SIZE];

extern modbus_rtu_t modbus_rtu_A;
extern modbus_rtu_t modbus_rtu_B;
extern modbus_rtu_t modbus_rtu_hmi;

void fun_ini_modbus(modbus_rtu_t *modbus_rtu);
BOOL fun_proc_modbus(modbus_rtu_t *modbus_rtu);
void fun_com_hmi(modbus_rtu_t *modbus_rtu);

#endif