init

научка/code/pwm_motor_control/Modbus/Modbus.c

@@ -0,0 +1,864 @@
+/********************************MODBUS*************************************
+Данный файл содержит базовые функции для реализации MODBUS.
+//-------------------Функции-------------------//
+@func user
+	- MB_SetCoil
+	- MB_ResetCoil
+
+@func process message
+	- MB_DefineRegistersAddress 		Определение "начального" адреса регистров
+	- MB_DefineCoilsAddress					Определение "начального" адреса коилов
+	- MB_Check_Address_For_Arr 							принадлежит ли адресс Addr конкретному массиву
+	- Modbus_Command_x							Обработка команды x
+
+@func RS functions
+	-	Parse_Message/Collect_Message	Заполнение структуры сообщения и буфера
+	-	RS_Response  									Ответ на комманду
+	- RS_Define_Size_of_RX_Message	Определение размера принимаемых данных
+	-	RS_Init												Инициализация периферии и modbus handler
+
+@func initialization
+	- MB_Init												Инициализация modbus
+	
+//--------------Данные для модбас--------------//
+@registers Holding/Input Registers
+	Регистры представляют собой 16-битные числа (слова). В обработке комманд 
+	находится адресс "начального" регистра и записывается в указатель. Доступ к 
+	остальным регистрам осуществляется через указатель.	Таким образом, сами 
+	регистры могут представлять собой как массив так и структуру.
+	- sine_log - массив регистров на 500 элементов
+	- sine_log - массив регистров на 500 элементов
+
+@coils Coils
+	Коилы представляют собой биты, упакованные в 16-битные регистры. В обработке 
+	комманд находится адресс "начального" регистра запрашиваемого коила. Доступ к 
+	остальным коилам осуществляется через маску и указатель. Таким образом, сами 
+	коилы могут представлять собой как массив так и структуру.
+	
+	
+@example SLAVE RECEIVE
+//--------------Настройка модбас--------------//
+	// create handles and settings
+	Create_MODBUS_Handles(modbus1);
+	
+	// set up UART for modbus
+	modbus1_suart.huart = &modbus1_huart;
+	modbus1_suart.huart->Instance = USED_MODBUS_UART;
+	modbus1_suart.huart->Init.BaudRate = 38400;	
+	modbus1_suart.GPIOx = MODBUS_GPIOX;
+	modbus1_suart.GPIO_PIN_RX = MODBUS_GPIO_PIN_RX;
+	modbus1_suart.GPIO_PIN_TX = MODBUS_GPIO_PIN_TX;
+	
+	// set up timeout TIM for modbus
+	modbus1_stim.htim = &modbus1_htim;
+	modbus1_stim.htim.Instance = USED_MODBUS_TIM;
+	modbus1_stim.htim.Init.Prescaler = 36000;  // set this to 0.5 ms
+	modbus1_stim.TIM_MODE = TIM_IT_CONF;
+	
+	// set up modbus: MB_RX_Size_NotConst and Timeout enable
+	hmodbus1.ID = 1;
+	hmodbus1.sRS_RX_Size_Mode = RS_RX_Size_NotConst;
+	hmodbus1.sRS_Timeout = 100;
+	hmodbus1.sRS_Mode = SLAVE_ALWAYS_WAIT;
+	hmodbus1.RS_STATUS = RS_Init(&hmodbus1, &modbus1_suart, &modbus1_stim, 0);
+	
+//----------------Прием модбас----------------//
+	RS_MsgTypeDef MODBUS_MSG;
+	RS_Receive_IT(&hmodbus1, &MODBUS_MSG);
+***************************************************************************/
+#include "rs_message.h"
+uint32_t dbg_temp, dbg_temp2, dbg_temp3; // for debug
+uint32_t err_cnt = 0;
+/* EXTERN MODBUS HANDLES */
+UART_SettingsTypeDef modbus1_suart;
+TIM_SettingsTypeDef modbus1_stim;
+RS_HandleTypeDef hmodbus1;
+
+/* DEFINE REGISTERS/COILS */
+uint16_t sine_log[R_SINE_LOG_QNT];						// start from 0x0000
+uint16_t pwm_log[R_PWM_LOG_QNT]; 						 	// start from 500 (0x1F4)
+uint16_t cnt_log[R_CNT_LOG_QNT];							// start from 100 (0x3E8)
+uint16_t time_log[R_TIME_LOG_QNT];						// start from 1500 (0x5DC)
+uint16_t pwm_ctrl[R_PWM_CTRL_QNT];						// start from 2000 (0x7D0)
+uint16_t log_ctrl[R_PWM_CTRL_QNT];						// start from 2008 (0x7D0)
+uint16_t uart_ctrl[R_UART_CTRL_QNT]; 	
+
+uint16_t coils_regs[C_CTRL_COILS_QNT];
+
+//-------------------------------------------------------------------
+//-----------------------------FOR USER------------------------------
+/** 
+	* @brief 	First set up of MODBUS.
+	* @note 	Первый инит модбас. Заполняет структуры и инициализирует таймер и юарт для общения по модбас.
+	* 				Скважность ШИМ меняется по закону синусоиды, каждый канал генерирует свой полупериод синуса (от -1 до 0 И от 0 до 1)
+	* 				ШИМ генерируется на одном канале.
+	* @note		This called from main
+	*/
+void MODBUS_FirstInit(void)
+{
+	//-----------SETUP MODBUS-------------
+	// set up UART for modbus
+	modbus1_suart.huart.Instance = USED_MODBUS_UART;
+	modbus1_suart.huart.Init.BaudRate = PROJSET.MB_SPEED;	
+	modbus1_suart.GPIOx = (GPIO_TypeDef *)PROJSET.MB_GPIOX;
+	modbus1_suart.GPIO_PIN_RX = PROJSET.MB_GPIO_PIN_RX;
+	modbus1_suart.GPIO_PIN_TX = PROJSET.MB_GPIO_PIN_TX;
+	
+	// set up timeout TIM for modbus
+	modbus1_stim.htim.Instance = USED_MODBUS_TIM;
+	modbus1_stim.sTimAHBFreqMHz = PROJSET.MB_TIM_AHB_FREQ;
+	modbus1_stim.sTimMode = TIM_IT_CONF;
+	
+	// set up modbus: MB_RX_Size_NotConst and Timeout enable
+	hmodbus1.ID = PROJSET.MB_DEVICE_ID;
+	hmodbus1.sRS_Timeout = PROJSET.MB_MAX_TIMEOUT;
+	hmodbus1.sRS_Mode = SLAVE_ALWAYS_WAIT;
+	hmodbus1.sRS_RX_Size_Mode = RS_RX_Size_NotConst;
+	
+	// INIT
+	hmodbus1.RS_STATUS = RS_Init(&hmodbus1, &modbus1_suart, &modbus1_stim, 0);	
+}
+/** 
+	* @brief 	Set or Reset Coil at its global address.
+	* @param 	Addr 					- адрес коила.
+	* @param 	WriteVal 			- Что записать в коил: 0 или 1.
+	* @return ExceptionCode	- Код исключения если коила по адресу не существует, и NO_ERRORS если все ок.
+	*
+  * @note 	Позволяет обратиться к любому коилу по его глобальному адрессу.
+						Вне зависимости от того как коилы размещены в памяти.
+	*/
+MB_ExceptionTypeDef MB_Write_Coil_Global(uint16_t Addr, MB_CoilsOpTypeDef WriteVal)
+{
+	//---------CHECK FOR ERRORS----------
+	MB_ExceptionTypeDef Exception = NO_ERRORS;
+	uint16_t *coils;
+	uint16_t start_shift = 0; // shift in coils register
+	
+	//------------WRITE COIL-------------
+	Exception = MB_DefineCoilsAddress(&coils, Addr, 1, &start_shift, 1);
+	if(Exception == NO_ERRORS)
+	{
+		switch(WriteVal)
+		{
+			case SET_COIL:
+				*coils |= (1<<start_shift);				
+				break;
+				
+			case RESET_COIL:
+				*coils &= ~(1<<start_shift);					
+				break;
+				
+			case TOOGLE_COIL:
+				*coils ^= (1<<start_shift);						
+				break;
+			
+		}		
+	}
+	return Exception;
+}
+
+
+/** 
+	* @brief 	Read Coil at its global address.
+	* @param 	Addr 					- адрес коила.
+	* @param 	Exception 		- Указатель на переменную для кода исключения, в случа неудачи при чтении.
+	* @return uint16_t			- Возвращает весь регистр с маской на запрошенном коиле.
+	*
+  * @note 	Позволяет обратиться к любому коилу по его глобальному адрессу.
+						Вне зависимости от того как коилы размещены в памяти.
+	*/
+uint16_t MB_Read_Coil_Global(uint16_t Addr, MB_ExceptionTypeDef *Exception)
+{
+	//---------CHECK FOR ERRORS----------
+	MB_ExceptionTypeDef Exception_tmp;
+	if(Exception == NULL)							// if exception is not given to func fill it
+		Exception = &Exception_tmp;
+		
+	uint16_t *coils;
+	uint16_t start_shift = 0; // shift in coils register
+	
+	//------------READ COIL--------------
+	*Exception = MB_DefineCoilsAddress(&coils, Addr, 1, &start_shift, 0);	
+	if(*Exception == NO_ERRORS)
+	{
+		return ((*coils)&(1<<start_shift));
+	}
+	else
+	{
+		return 0;
+	}
+}
+
+//-------------------------------------------------------------------
+//----------------FUNCTIONS FOR PROCESSING MESSAGE-------------------
+/** 
+	* @brief 	Define Address Origin for Input/Holding Registers
+	* @param 	pRegs 				- указатель на указатель регистров.
+	* @param 	Addr 					- адрес начального регистра.
+	* @param 	Qnt 					- количество запрашиваемых регистров.
+	* @param 	WriteFlag 		- флаг регистр нужны для чтения или записи.
+	* @return ExceptionCode	- Код исключения если есть, и NO_ERRORS если нет.
+	*
+  * @note 	Определение адреса начального регистра.
+	* @note 	WriteFlag пока не используется.
+	*/
+MB_ExceptionTypeDef MB_DefineRegistersAddress(uint16_t **pRegs, uint16_t Addr, uint16_t Qnt, uint8_t WriteFlag)
+{	
+	/* check quantity error */
+	if (Qnt > 125)	
+	{		
+			return ILLEGAL_DATA_VALUE;	// return exception code
+	}
+	
+	// sensors array
+	if(MB_Check_Address_For_Arr(Addr, Qnt, R_SINE_LOG_ADDR, R_SINE_LOG_QNT) == NO_ERRORS)
+	{
+		*pRegs = MB_Set_Register_Ptr(&sine_log, Addr);	// начало регистров хранения/входных
+	}
+	// PWM array
+	else if(MB_Check_Address_For_Arr(Addr, Qnt, R_PWM_LOG_ADDR, R_PWM_LOG_QNT) == NO_ERRORS)
+	{
+		*pRegs = MB_Set_Register_Ptr(&pwm_log, Addr - R_PWM_LOG_ADDR);	// начало регистров хранения/входных
+	}
+	// counter array
+	else if(MB_Check_Address_For_Arr(Addr, Qnt, R_CNT_LOG_ADDR, R_CNT_LOG_QNT) == NO_ERRORS)
+	{
+		*pRegs = MB_Set_Register_Ptr(&cnt_log, Addr - R_CNT_LOG_ADDR);	// начало регистров хранения/входных
+	}
+	// time array
+	else if(MB_Check_Address_For_Arr(Addr, Qnt, R_TIME_LOG_ADDR, R_TIME_LOG_QNT) == NO_ERRORS)
+	{
+		*pRegs = MB_Set_Register_Ptr(&time_log, Addr - R_TIME_LOG_ADDR);	// начало регистров хранения/входных
+	}
+	// PWM array
+	else if(MB_Check_Address_For_Arr(Addr, Qnt, R_PWM_CTRL_ADDR, R_PWM_CTRL_QNT) == NO_ERRORS)
+	{
+		*pRegs = MB_Set_Register_Ptr(&pwm_ctrl, Addr - R_PWM_CTRL_ADDR);	// начало регистров хранения/входных
+	}
+	// log array
+	else if(MB_Check_Address_For_Arr(Addr, Qnt, R_LOG_CTRL_ADDR, R_LOG_CTRL_QNT) == NO_ERRORS)
+	{
+		*pRegs = MB_Set_Register_Ptr(&log_ctrl, Addr - R_LOG_CTRL_ADDR);	// начало регистров хранения/входных
+	}
+	// uart settings array
+	else if(MB_Check_Address_For_Arr(Addr, Qnt, R_UART_CTRL_ADDR, R_UART_CTRL_QNT) == NO_ERRORS)
+	{
+		*pRegs = MB_Set_Register_Ptr(&uart_ctrl, Addr - R_UART_CTRL_ADDR);	// начало регистров хранения/входных
+	}
+	// if address doesnt match any array - return illegal data address response
+	else	
+	{
+		return ILLEGAL_DATA_ADDRESS;
+	}
+	// if found requeried array return no err
+	return NO_ERRORS; // return no errors
+}
+/** 
+	* @brief 	Define Address Origin for coils
+	* @param 	pCoils 				- указатель на указатель коилов.
+	* @param 	Addr 					- адресс начального коила.
+	* @param 	Qnt 					- количество запрашиваемых коилов.
+	* @param 	start_shift 	- указатель на переменную содержащую сдвиг внутри регистра для начального коила.
+	* @param 	WriteFlag 		- флаг коилы нужны для чтения или записи.
+	* @return ExceptionCode	- Код исключения если есть, и NO_ERRORS если нет.
+	*
+  * @note 	Определение адреса начального регистра запрашиваемых коилов.
+	* @note 	WriteFlag используется для определния регистров GPIO: ODR или IDR.
+	*/
+MB_ExceptionTypeDef MB_DefineCoilsAddress(uint16_t **pCoils, uint16_t Addr, uint16_t Qnt, uint16_t *start_shift, uint8_t WriteFlag)
+{	
+	/* check quantity error */
+	if (Qnt > 2000)	
+	{
+		return ILLEGAL_DATA_VALUE;	// return exception code
+	}
+		
+	// gpiod coils
+	if(MB_Check_Address_For_Arr(Addr, Qnt, C_GPIOD_ADDR, C_GPIOD_QNT) == NO_ERRORS)
+	{
+		if(WriteFlag)		// if write set odr
+			*pCoils = MB_Set_Coil_Reg_Ptr(&GPIOD->ODR, Addr);
+		else						// if read set idr
+			*pCoils = MB_Set_Coil_Reg_Ptr(&GPIOD->IDR, Addr);
+	}
+	// peripheral control coils
+	else if(MB_Check_Address_For_Arr(Addr, Qnt, C_CTRL_COILS_ADDR, C_CTRL_COILS_QNT) == NO_ERRORS)
+	{
+		*pCoils = MB_Set_Coil_Reg_Ptr(&coils_regs, Addr-C_CTRL_COILS_ADDR);
+	}
+	// if address doesnt match any array - return illegal data address response
+	else	
+	{
+		return ILLEGAL_DATA_ADDRESS;
+	}
+	
+	*start_shift = Addr % 16;	// set shift to requested coil
+	// if found requeried array return no err
+	return NO_ERRORS;	// return no errors
+}
+/** 
+	* @brief 	Check is address valid for certain array.
+	* @param 	Addr 					- начальный адресс.
+	* @param 	Qnt 					- количество запрашиваемых элементов.
+	* @param 	R_ARR_ADDR 		- начальный адресс массива R_ARR.
+	* @param 	R_ARR_NUMB 		- количество элементов в массиве R_ARR.
+	* @return ExceptionCode	- ILLEGAL DATA ADRESS если адресс недействителен, и NO_ERRORS если все ок.
+	*
+	* @note 	Позволяет определить, принадлежит ли адресс Addr массиву R_ARR:
+	*					Если адресс Addr находится в диапазоне адрессов массива R_ARR, то возвращаем NO_ERROR.
+	*					Если адресс Addr находится за пределами адрессов массива R_ARR - ILLEGAL_DATA_ADDRESSю.
+	*/
+MB_ExceptionTypeDef MB_Check_Address_For_Arr(uint16_t Addr, uint16_t Qnt, uint16_t R_ARR_ADDR, uint16_t R_ARR_NUMB)
+{
+	// if address from this array
+	if(Addr >= R_ARR_ADDR) 
+	{		
+		// if quantity too big return error
+		if ((Addr - R_ARR_ADDR) + Qnt > R_ARR_NUMB) 
+		{
+			return ILLEGAL_DATA_ADDRESS;	// return exception code
+		}
+		// if all ok - return no errors
+		return NO_ERRORS;
+	}
+	// if address isnt from this array return error
+	else 
+		return ILLEGAL_DATA_ADDRESS;	// return exception code		
+}
+
+
+/** 
+	* @brief 	Proccess command Read Coils (01 - 0x01).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Read Coils.
+	*/
+uint8_t MB_Read_Coils(RS_MsgTypeDef *modbus_msg)
+{
+	//---------CHECK FOR ERRORS----------
+	uint16_t *coils;
+	uint16_t start_shift = 0; // shift in coils register
+	
+	modbus_msg->Except_Code = MB_DefineCoilsAddress(&coils, modbus_msg->Addr, modbus_msg->Qnt, &start_shift, 0);
+	if(modbus_msg->Except_Code != NO_ERRORS)
+		return 0;
+	
+	//-----------READING COIL------------
+	// setup output message data size	
+	modbus_msg->ByteCnt = Divide_Up(modbus_msg->Qnt, 8);
+	// create mask for coils
+	uint16_t mask_for_coils = 0;	// mask for coils that've been chosen
+	uint16_t setted_coils = 0;		// value of setted coils
+	uint16_t temp_reg = 0;				// temp register for saving coils that hasnt been chosen
+	uint16_t coil_cnt = 0;				// counter for processed coils
+
+	// cycle until all registers with requered coils would be processed
+	int shift = start_shift; 	// set shift to first coil in first register
+	int ind = 0;							// index for coils registers and data
+	for(; ind <= Divide_Up(start_shift + modbus_msg->Qnt, 16); ind++)
+	{ 
+		//----SET MASK FOR COILS REGISTER----
+		mask_for_coils = 0;
+		for(; shift < 0x10; shift++)
+		{
+			mask_for_coils |= 1<<(shift); // choose certain coil
+			if(++coil_cnt >= modbus_msg->Qnt)
+				break;
+		}
+		shift = 0; // set shift to zero for the next step
+	
+		//-----------READ COILS--------------
+		modbus_msg->DATA[ind] = (*(coils+ind)&mask_for_coils) >> start_shift;
+		if(ind > 0)
+			modbus_msg->DATA[ind-1] |= ((*(coils+ind)&mask_for_coils) << 16) >> start_shift;
+			
+	}
+	// т.к. DATA 16-битная, для 8-битной передачи, надо поменять местами верхний и нижний байты
+	for(; ind >= 0; --ind)	
+		modbus_msg->DATA[ind] = ByteSwap16(modbus_msg->DATA[ind]);
+	
+	return 1;
+}
+
+/**
+	* @brief 	Proccess command Read Holding Registers (03 - 0x03).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Read Holding Registers.
+	*/
+uint8_t MB_Read_Hold_Regs(RS_MsgTypeDef *modbus_msg)
+{
+	//---------CHECK FOR ERRORS----------	
+	// get origin address for data
+	uint16_t *pHoldRegs; 			
+	modbus_msg->Except_Code = MB_DefineRegistersAddress(&pHoldRegs, modbus_msg->Addr, modbus_msg->Qnt, NULL);	// определение адреса регистров
+	if(modbus_msg->Except_Code != NO_ERRORS)
+		return 0;
+	
+
+	//-----------READING REGS------------
+	// setup output message data size	
+	modbus_msg->ByteCnt = modbus_msg->Qnt*2; // *2 because we transmit 8 bits, not 16 bits
+	// read data
+	int i;
+	for (i = 0; i<modbus_msg->Qnt; i++)
+	{
+		modbus_msg->DATA[i]	= *(pHoldRegs++);
+	}	
+	return 1;
+}
+/**
+	* @brief 	Proccess command Write Single Coils (05 - 0x05).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Write Single Coils.
+	*/
+uint8_t MB_Write_Single_Coil(RS_MsgTypeDef *modbus_msg)
+{
+	//---------CHECK FOR ERRORS----------
+	if ((modbus_msg->Qnt != 0x0000) && (modbus_msg->Qnt != 0xFF00))
+	{
+		modbus_msg->Except_Code = ILLEGAL_DATA_VALUE;
+		return 0;
+	}		
+	// define position of coil
+	uint16_t *coils;
+	uint16_t start_shift = 0; // shift in coils register
+	modbus_msg->Except_Code = MB_DefineCoilsAddress(&coils, modbus_msg->Addr, 0, &start_shift, 1);
+	if(modbus_msg->Except_Code != NO_ERRORS)
+		return 0;
+	
+
+	//----------WRITTING COIL------------
+	if(modbus_msg->Qnt == 0xFF00)
+		*(coils) |= 1<<start_shift; // write flags corresponding to received data
+	else
+		*(coils) &= ~(1<<start_shift); // write flags corresponding to received data
+	
+	return 1;
+}
+
+/**
+	* @brief 	Proccess command Write Single Register (06 - 0x06).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Write Single Register.
+	*/
+uint8_t MB_Write_Single_Reg(RS_MsgTypeDef *modbus_msg)
+{	
+	// get origin address for data
+	uint16_t *pInputRegs; 			
+	modbus_msg->Except_Code = MB_DefineRegistersAddress(&pInputRegs, modbus_msg->Addr, 1, NULL);	// определение адреса регистров
+	if(modbus_msg->Except_Code != NO_ERRORS)
+		return 0;
+	
+	//-----------WRITTING REG------------	
+	*(pInputRegs) = modbus_msg->Qnt;
+	return 1;
+}
+
+/**
+	* @brief 	Proccess command Write Multiple Coils (15 - 0x0F).
+	* @param 	modbus_msg 			- указатель на структуру собщения modbus.
+	* @return fMessageHandled	- статус о результате обработки комманды.
+	* @note 	Обработка команды Write Multiple Coils.
+	*/
+uint8_t MB_Write_Miltuple_Coils(RS_MsgTypeDef *modbus_msg)
+{
+	//---------CHECK FOR ERRORS----------
+	if (modbus_msg->ByteCnt != Divide_Up(modbus_msg->Qnt, 8))
+	{ // if quantity too large OR if quantity and bytes count arent match
+		modbus_msg->Except_Code = ILLEGAL_DATA_VALUE;
+		return 0;
+	}	
+	// define position of coil
+	uint16_t *coils;					// pointer to coils
+	uint16_t start_shift = 0; // shift in coils register
+	modbus_msg->Except_Code = MB_DefineCoilsAddress(&coils, modbus_msg->Addr, modbus_msg->Qnt, &start_shift, 1);
+	if(modbus_msg->Except_Code != NO_ERRORS)
+		return 0;
+	
+	//----------WRITTING COILS-----------
+	// create mask for coils
+	uint16_t mask_for_coils = 0;	// mask for coils that've been chosen
+	uint32_t setted_coils = 0;		// value of setted coils
+	uint16_t temp_reg = 0;				// temp register for saving coils that hasnt been chosen
+	uint16_t coil_cnt = 0;				// counter for processed coils
+
+	// cycle until all registers with requered coils would be processed
+	int shift = start_shift; // set shift to first coil in first register
+	for(int ind = 0; ind <= Divide_Up(start_shift + modbus_msg->Qnt, 16); ind++)
+	{ 
+		//----SET MASK FOR COILS REGISTER----
+		mask_for_coils = 0;
+		for(; shift < 0x10; shift++)
+		{
+			mask_for_coils |= 1<<(shift); // choose certain coil
+			if(++coil_cnt >= modbus_msg->Qnt)
+				break;
+		}
+		shift = 0; // set shift to zero for the next step
+		
+		
+		
+		//-----------WRITE COILS-------------
+		// get current coils
+		temp_reg = *(coils+ind);
+		// set coils
+		setted_coils = ByteSwap16(modbus_msg->DATA[ind]) << start_shift;
+		if(ind > 0)
+		{
+			setted_coils |= ((ByteSwap16(modbus_msg->DATA[ind-1]) << start_shift) >> 16);
+		}
+		// write coils
+			
+		*(coils+ind) = setted_coils & mask_for_coils;		
+		 // restore untouched coils
+		*(coils+ind) |= temp_reg&(~mask_for_coils);
+		
+		
+		if(coil_cnt >= modbus_msg->Qnt) // if all coils written - break cycle
+			break;												// *kind of unnecessary
+	}
+	
+	return 1;
+}
+
+/**
+	* @brief 	Proccess command Write Multiple Registers (16 - 0x10).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Write Multiple Registers.
+	*/
+uint8_t MB_Write_Miltuple_Regs(RS_MsgTypeDef *modbus_msg)
+{
+	//---------CHECK FOR ERRORS----------
+	if (modbus_msg->Qnt*2 != modbus_msg->ByteCnt)
+	{ // if quantity and bytes count arent match
+		modbus_msg->Except_Code = 3;
+		return 0;
+	}	
+	// get origin address for data
+	uint16_t *pInputRegs; 			
+	modbus_msg->Except_Code = MB_DefineRegistersAddress(&pInputRegs, modbus_msg->Addr, modbus_msg->Qnt, NULL);	// определение адреса регистров
+	if(modbus_msg->Except_Code != NO_ERRORS)
+		return 0;
+	
+	//-----------WRITTING REGS-----------	
+	for (int i = 0; i<modbus_msg->Qnt; i++)
+	{
+		*(pInputRegs++) = modbus_msg->DATA[i];
+	}
+	return 1;
+}
+
+
+/** 
+	* @brief 	Respond accord to received message.
+	* @param 	hRS 		- указатель на хендлер RS.
+	* @param 	RS_msg 	- указатель на структуру сообщения.
+	* @return RS_RES	- статус о результате ответа на комманду.
+	* @note		Обработка принятой комманды и ответ на неё.
+	*/
+RS_StatusTypeDef RS_Response(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg)
+{
+	RS_StatusTypeDef MB_RES = 0;
+	hmodbus->fMessageHandled = 0;
+	hmodbus->fEchoResponse = 0;
+	RS_Reset_TX_Flags(hmodbus);			// reset flag for correct transmit
+	
+	if(modbus_msg->Func_Code < ERR_VALUES_START)// if no errors after parsing
+	{
+		switch (modbus_msg->Func_Code)
+		{
+			// Read Coils
+			case MB_R_COILS: 
+				hmodbus->fMessageHandled = 	MB_Read_Coils(hmodbus->pMessagePtr);
+				break;
+//			case MB_R_DISC_IN: 		break;
+			
+			// Read Hodling Registers
+			case MB_R_HOLD_REGS: 
+			case MB_R_IN_REGS: 
+				hmodbus->fMessageHandled = 	MB_Read_Hold_Regs(hmodbus->pMessagePtr);
+				break;
+			
+			
+			// Write Single Coils
+			case MB_W_COIL: 
+				hmodbus->fMessageHandled =	MB_Write_Single_Coil(hmodbus->pMessagePtr);	
+				if(hmodbus->fMessageHandled) hmodbus->fEchoResponse = 1;  // echo response if write ok
+				break;
+			
+			case MB_W_IN_REG: 	
+				hmodbus->fMessageHandled =	MB_Write_Single_Reg(hmodbus->pMessagePtr);	
+				if(hmodbus->fMessageHandled) hmodbus->fEchoResponse = 1;  // echo response if write ok
+				break;
+			
+			// Write Multiple Coils
+			case MB_W_COILS: 
+				hmodbus->fMessageHandled = 	MB_Write_Miltuple_Coils(hmodbus->pMessagePtr);
+				if(hmodbus->fMessageHandled) hmodbus->fEchoResponse = 1; hmodbus->RS_Message_Size = 6; // echo response if write ok (withous data bytes)
+				break;
+			
+			// Write Multiple Registers
+			case MB_W_IN_REGS:
+				hmodbus->fMessageHandled = 	MB_Write_Miltuple_Regs(hmodbus->pMessagePtr);
+				if(hmodbus->fMessageHandled) hmodbus->fEchoResponse = 1; hmodbus->RS_Message_Size = 6; // echo response if write ok (withous data bytes)
+				break;
+			
+			/* unknown func code */
+			default: modbus_msg->Except_Code = 0x01; /* set exception code: illegal function */
+		}		
+				
+		if(hmodbus->fMessageHandled == 0)
+			modbus_msg->Func_Code += ERR_VALUES_START;
+		
+			
+	}
+	
+	// if we need response - check that transmit isnt busy
+	if( RS_Is_TX_Busy(hmodbus) ) 
+		RS_Abort(hmodbus, ABORT_TX);		// if tx busy - set it free
+	
+	// Transmit right there, or sets (fDeferredResponse) to transmit response in main code	
+	MB_RES = RS_Handle_Transmit_Start(hmodbus, modbus_msg);
+	
+	hmodbus->RS_STATUS = MB_RES;
+	return MB_RES;
+}
+
+/** 
+	* @brief 	Collect message in buffer to transmit it.
+	* @param 	hRS 					- указатель на хендлер RS.
+	* @param 	RS_msg 				- указатель на структуру сообщения.
+	* @param 	msg_uart_buff	- указатель на буффер UART.
+	* @return RS_RES				- статус о результате заполнения буфера.
+	* @note		Заполнение буффера UART из структуры сообщения.
+	*/
+RS_StatusTypeDef Collect_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg, uint8_t *modbus_uart_buff)
+{
+	int ind = 0; // ind for modbus-uart buffer
+	
+	if(hmodbus->fEchoResponse && hmodbus->fMessageHandled) 	// if echo response need
+		ind = hmodbus->RS_Message_Size;
+	else
+	{
+		//------INFO ABOUT DATA/MESSAGE------
+		//-----------[first bytes]-----------
+		// set ID of message/user
+		modbus_uart_buff[ind++] = modbus_msg->MbAddr;	
+
+		// set dat or err response
+		modbus_uart_buff[ind++] = modbus_msg->Func_Code;	
+
+		if (modbus_msg->Func_Code < ERR_VALUES_START) // if no error occur
+		{
+			// set size of received data
+			if (modbus_msg->ByteCnt <= DATA_SIZE*2) // if ByteCnt less than DATA_SIZE
+				modbus_uart_buff[ind++] = modbus_msg->ByteCnt;
+			else																				// otherwise return data_size err
+				return RS_COLLECT_MSG_ERR;
+			
+			//---------------DATA----------------
+			//-----------[data bytes]------------
+			uint16_t *tmp_data_addr = (uint16_t *)modbus_msg->DATA;
+			for(int i = 0; i < modbus_msg->ByteCnt; i++) // filling buffer with data
+			{	// set data
+				if (i%2 == 0)		// HI byte
+					modbus_uart_buff[ind++] = (*tmp_data_addr)>>8;
+				else						// LO byte
+				{
+					modbus_uart_buff[ind++] = *tmp_data_addr;
+					tmp_data_addr++;
+				}
+			}
+		}
+		else 	// if some error occur
+		{			// send expection code
+			modbus_uart_buff[ind++] = modbus_msg->Except_Code;
+		}
+	}
+	//---------------CRC----------------
+	//---------[last 16 bytes]----------
+	// calc crc of received data
+	uint16_t CRC_VALUE = crc16(modbus_uart_buff, ind);
+	// write crc to message structure and modbus-uart buffer
+	modbus_msg->MB_CRC = CRC_VALUE;
+	modbus_uart_buff[ind++] = CRC_VALUE;
+	modbus_uart_buff[ind++] = CRC_VALUE >> 8;
+	
+	hmodbus->RS_Message_Size = ind;
+	
+	return RS_OK; // returns ok
+}
+
+/** 
+	* @brief 	Parse message from buffer to process it.
+	* @param 	hRS 					- указатель на хендлер RS.
+	* @param 	RS_msg 				- указатель на структуру сообщения.
+	* @param 	msg_uart_buff	- указатель на буффер UART.
+	* @return RS_RES				- статус о результате заполнения структуры.
+	* @note		Заполнение структуры сообщения из буффера UART.
+	*/
+RS_StatusTypeDef Parse_Message(RS_HandleTypeDef *hmodbus, RS_MsgTypeDef *modbus_msg, uint8_t *modbus_uart_buff)
+{
+	uint32_t check_empty_buff;
+	int ind = 0; // ind for modbus-uart buffer
+	//-----INFO ABOUT DATA/MESSAGE-------
+	//-----------[first bits]------------
+	// get ID of message/user
+	modbus_msg->MbAddr = modbus_uart_buff[ind++];
+	if(modbus_msg->MbAddr != hmodbus->ID)
+		return RS_SKIP;
+	
+	// get dat or err response
+	modbus_msg->Func_Code = modbus_uart_buff[ind++];
+	
+	// get address from CMD
+	modbus_msg->Addr = modbus_uart_buff[ind++] << 8;
+	modbus_msg->Addr |= modbus_uart_buff[ind++];
+	
+	// get address from CMD
+	modbus_msg->Qnt = modbus_uart_buff[ind++] << 8;
+	modbus_msg->Qnt |= modbus_uart_buff[ind++];
+	
+	if(hmodbus->fRX_Half == 0) // if all message received
+	{
+		//---------------DATA----------------
+		// 					  (optional)
+		if (modbus_msg->ByteCnt != 0)
+		{
+			ind++; // increment ind for data_size byte
+			//check that data size is correct
+			if (modbus_msg->ByteCnt > DATA_SIZE)
+			{
+	//			hmodbus->MB_RESPONSE = MB_DATA_SIZE_ERR; // set func code - error data size more than maximumif yes, set func code -  error about empty message
+				modbus_msg->Func_Code += ERR_VALUES_START;
+				return RS_PARSE_MSG_ERR;
+			}
+			uint16_t *tmp_data_addr = (uint16_t *)modbus_msg->DATA;
+			for(int i = 0; i < modbus_msg->ByteCnt; i++) // /2 because we transmit 8 bits, not 16 bits
+			{	// set data
+				if (i%2 == 0)
+					*tmp_data_addr = ((uint16_t)modbus_uart_buff[ind++] << 8);
+				else
+				{
+					*tmp_data_addr |= modbus_uart_buff[ind++];
+					tmp_data_addr++;
+				}
+			}
+		}
+		
+		//---------------CRC----------------
+		//----------[last 16 bits]----------
+		// calc crc of received data
+		uint16_t CRC_VALUE = crc16(modbus_uart_buff, ind);
+		// get crc of received data
+		modbus_msg->MB_CRC = modbus_uart_buff[ind++];
+		modbus_msg->MB_CRC |= modbus_uart_buff[ind++] << 8;
+		// compare crc
+		if (modbus_msg->MB_CRC != CRC_VALUE)
+			modbus_msg->Func_Code += ERR_VALUES_START;
+	//		hmodbus->MB_RESPONSE = MB_CRC_ERR; // set func code - error about wrong crc
+		
+		// check is buffer empty
+		check_empty_buff = 0;
+		for(int i=0; i<ind;i++)
+			check_empty_buff += modbus_uart_buff[i];
+	//	if(check_empty_buff == 0) 
+	//		hmodbus->MB_RESPONSE = MB_EMPTY_MSG; // 
+	}
+	
+	return RS_OK;
+	
+}
+
+/** 
+	* @brief 	Define size of RX Message that need to be received.
+	* @param 	hRS 					- указатель на хендлер RS.
+	* @param 	rx_data_size 	- указатель на переменную для записи кол-ва байт для принятия.
+	* @return RS_RES				- статус о корректности рассчета кол-ва байт для принятия.
+	* @note		Определение сколько байтов надо принять по протоколу.
+	*/
+RS_StatusTypeDef RS_Define_Size_of_RX_Message(RS_HandleTypeDef *hmodbus, uint32_t *rx_data_size)
+{		
+	RS_StatusTypeDef MB_RES = 0;
+	
+	MB_RES = Parse_Message(hmodbus, hmodbus->pMessagePtr, hmodbus->pBufferPtr);
+	if(MB_RES == RS_SKIP) // if message not for us
+		return MB_RES;																// return 
+	
+	if ((hmodbus->pMessagePtr->Func_Code & ~ERR_VALUES_START) < 0x0F)
+	{
+		hmodbus->pMessagePtr->ByteCnt = 0;
+		*rx_data_size = 1;
+	}
+	else
+	{
+		hmodbus->pMessagePtr->ByteCnt = hmodbus->pBufferPtr[RX_FIRST_PART_SIZE-1]; // get numb of data in command
+	// +1 because that defines is size, not ind.
+		*rx_data_size = hmodbus->pMessagePtr->ByteCnt + 2;
+	}
+	hmodbus->RS_Message_Size = RX_FIRST_PART_SIZE + *rx_data_size; // size of whole message
+	return RS_OK;
+}
+
+//-----------------------------FOR USER------------------------------
+//-------------------------------------------------------------------
+
+
+
+//-------------------------------------------------------------------
+//-------------------------HANDLERS FUNCTION-------------------------
+#if (MODBUS_UART_NUMB == 1) // choose handler for UART
+void USART1_IRQHandler(void)
+#elif (MODBUS_UART_NUMB == 2)
+void USART2_IRQHandler(void)
+#elif (MODBUS_UART_NUMB == 3)
+void USART3_IRQHandler(void)
+#elif (MODBUS_UART_NUMB == 4)
+void USART4_IRQHandler(void)
+#elif (MODBUS_UART_NUMB == 5)
+void USART5_IRQHandler(void)
+#elif (MODBUS_UART_NUMB == 6)
+void USART6_IRQHandler(void)
+#endif
+{	
+	Trace_MB_UART_Enter();
+	RS_UART_Handler(&hmodbus1);
+	Trace_MB_UART_Exit();
+}
+#if (MODBUS_TIM_NUMB == 1) || (MODBUS_TIM_NUMB == 10) // choose handler for TIM
+void TIM1_UP_TIM10_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 2)
+void TIM2_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 3)
+void TIM3_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 4)
+void TIM4_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 5)
+void TIM5_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 6)
+void TIM6_DAC_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 7)
+void TIM7_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 8) || (MODBUS_TIM_NUMB == 13)
+void TIM8_UP_TIM13_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 1) || (MODBUS_TIM_NUMB == 9)
+void TIM1_BRK_TIM9_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 1) || (MODBUS_TIM_NUMB == 11)
+void TIM1_TRG_COM_TIM11_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 8) || (MODBUS_TIM_NUMB == 12)
+void TIM8_BRK_TIM12_IRQHandler(void)
+#elif (MODBUS_TIM_NUMB == 8) || (MODBUS_TIM_NUMB == 14)
+void TIM8_TRG_COM_TIM14_IRQHandler(void)
+#endif
+{	
+	Trace_MB_TIM_Enter();
+	RS_TIM_Handler(&hmodbus1);
+	Trace_MB_TIM_Exit();
+}
+
+//-------------------------HANDLERS FUNCTION-------------------------
+//-------------------------------------------------------------------

научка/code/pwm_motor_control/Modbus/Modbus.h

@@ -0,0 +1,419 @@
+/********************************MODBUS*************************************
+Данный файл содержит объявления базовых функции и дефайны для реализации 
+MODBUS.
+Данный файл необходимо подключить в rs_message.h. После подключать rs_message.h
+к основному проекту.
+***************************************************************************/
+#ifndef __MODBUS_H_
+#define __MODBUS_H_
+
+#include "stm32f4xx_hal.h"
+#include "modbus_data.h"
+#include "settings.h"		// for modbus settings
+/////////////////////////////////////////////////////////////////////
+//////////////////////////---SETTINGS---/////////////////////////////
+
+////----------DEFINES FOR MODBUS SETTING--------------
+//#define MODBUS_UART_NUMB 							3			// number of used uart
+//#define MODBUS_SPEED									115200
+//#define MODBUS_GPIOX									GPIOB
+//#define MODBUS_GPIO_PIN_RX						GPIO_PIN_11
+//#define MODBUS_GPIO_PIN_TX						GPIO_PIN_10
+///* accord to this define sets define USED_MB_UART = USARTx */
+//#define MODBUS_TIM_NUMB 							7			// number of used uart
+//#define MODBUS_TIM_AHB_FREQ						72
+///* accord to this define sets define USED_MB_TIM = TIMx */
+
+///* defines for modbus behaviour */
+//#define MODBUS_DEVICE_ID 										1			// number of used uart
+//#define MODBUS_MAX_TIMEOUT 						5000 	// is ms
+//// custom define for size of receive message 
+////--------------------------------------------------
+
+//---------------MODBUS DEVICE DATA-----------------
+/* EXTERN REGISTERS/COILS */ 
+
+extern uint16_t sine_log[R_SINE_LOG_QNT];					// start from 0x0000
+extern uint16_t pwm_log[R_PWM_LOG_QNT];						// start from 500 (0x1F4)
+extern uint16_t cnt_log[R_CNT_LOG_QNT];						// start from 100 (0x3E8)
+extern uint16_t time_log[R_TIME_LOG_QNT];					// start from 1500 (0x5DC)
+
+extern uint16_t pwm_ctrl[R_PWM_CTRL_QNT];					// start from 2000 (0x7D0)
+extern uint16_t log_ctrl[R_LOG_CTRL_QNT];					// start from 2008 (0x7D0)
+
+
+extern uint16_t uart_ctrl[R_UART_CTRL_QNT];
+
+extern uint16_t coils_regs[C_CTRL_COILS_QNT];				// start from 0x0001 (16th bit)
+
+//--------------------------------------------------
+//////////////////////////---SETTINGS---/////////////////////////////
+
+
+/////////////////////////////////////////////////////////////////////
+/////////////////////---USER MESSAGE DEFINES---//////////////////////
+//-------------DEFINES FOR STRUCTURE----------------
+/* defines for structure of modbus message */
+#define MbAddr_SIZE 						1						// size of (MbAddr)
+#define Func_Code_SIZE					1						// size of (Func_Code)
+#define	Addr_SIZE								2						// size of (Addr)
+#define Qnt_SIZE								2						// size of (Qnt)
+#define ByteCnt_SIZE						1						// size of (ByteCnt)
+#define DATA_SIZE 					125 				// maximum number of data: DWORD (NOT MESSAGE SIZE)
+#define CRC_SIZE 								2 					// size of (MB_CRC) in bytes
+
+/* size of info */
+#define INFO_SIZE_MAX 					(MbAddr_SIZE+Func_Code_SIZE+Addr_SIZE+Qnt_SIZE+ByteCnt_SIZE)
+
+/* size of first part of message that will be received
+first receive info part of message, than defines size of rest message*/
+#define RX_FIRST_PART_SIZE			INFO_SIZE_MAX
+
+/* size of buffer: max size of whole message */
+#define MSG_SIZE_MAX 						(INFO_SIZE_MAX + DATA_SIZE*2 + CRC_SIZE) // max possible size of message
+
+/* Structure for modbus exception codes */
+typedef enum //MB_ExceptionTypeDef
+{
+	// reading
+	NO_ERRORS =							0x00,		// no errors
+	ILLEGAL_FUNCTION =			0x01,		// function cannot be processed
+	ILLEGAL_DATA_ADDRESS =	0x02,		// data at this address is not available
+	ILLEGAL_DATA_VALUE =		0x03,		// uncorrect data value (quantity too big and cannot be returned or value for coil is incorrect)
+	SLAVE_DEVICE_FAILURE =	0x04,		// idk
+	ACKNOWLEDGE =						0x05,		// idk
+	SLAVE_DEVICE_BUSY =			0x06,		// idk
+	MEMORY_PARITY_ERROR =		0x08,		// idk
+}MB_ExceptionTypeDef;
+
+/* Structure for modbus func codes */
+typedef enum //MB_FunctonTypeDef
+{
+	// reading
+	MB_R_COILS = 			0x01,
+	MB_R_DISC_IN = 		0x02,
+	MB_R_IN_REGS = 		0x03,
+	MB_R_HOLD_REGS = 	0x04,
+	
+	// writting
+	MB_W_COIL = 			0x05,
+	MB_W_IN_REG = 		0x06,
+	MB_W_COILS = 			0x0F,
+	MB_W_IN_REGS = 		0x10,
+}MB_FunctonTypeDef;
+#define ERR_VALUES_START				0x80U				// from this value starts error func codes
+
+/* Structure for modbus messsage */
+typedef struct 	// RS_MsgTypeDef
+{
+	uint8_t 							MbAddr;
+	MB_FunctonTypeDef 		Func_Code;
+	uint16_t 							Addr;
+	uint16_t 							Qnt;
+	uint8_t 							ByteCnt;
+	
+	uint16_t 							DATA[DATA_SIZE];
+	MB_ExceptionTypeDef		Except_Code;
+	
+	uint16_t 							MB_CRC;
+}RS_MsgTypeDef;
+//--------------------------------------------------
+/////////////////////---USER MESSAGE DEFINES---//////////////////////
+
+
+
+/////////////////////////////////////////////////////////////////////
+/////////////////////---GENERAL MODBUS STUFF---//////////////////////
+/* Structure for coils operation */
+typedef enum
+{
+//	READ_COIL,
+	SET_COIL,
+	RESET_COIL,
+	TOOGLE_COIL,
+}MB_CoilsOpTypeDef;
+
+//------------DEFINES FOR PROCESS DATA--------------
+/**
+	* @brief	Calc dividing including remainder
+	*	@param 	_val_		- делимое.
+	*	@param 	_div_		- делитель.
+	*	@note 	Если результат деления без остатка: он возвращается как есть
+						Если с остатком - округляется вверх
+	*/
+//#define Divide_Up(_val_, _div_)												(((_val_)%(_div_))? (_val_)/(_div_)+1 : (_val_)/_div_)	/* через тернарный оператор */
+#define Divide_Up(_val_, _div_)												((_val_ - 1) / _div_) + 1																	/* через мат выражение */	
+
+/** 
+	* @brief 	Swap between Little Endian and Big Endian
+	* @param 	v 			- Переменная для свапа.
+  * @return v (new)	- Свапнутая переменная.
+  * @note 	Переключения между двумя типами хранения слова: HI-LO байты и LO-HI байты.
+	*/
+#define ByteSwap16(v)																	(((v&0xFF00) >> (8)) | ((v&0x00FF) << (8)))
+//--------------------------------------------------
+
+
+//-----------DEFINES FOR ACCESS TO DATA-------------
+/** 
+	* @brief 	Macros to set pointer to 16-bit array
+	* @param 	_arr_ 				- массив слов (16-бит).
+	*/
+#define MB_Set_Arr16_Ptr(_arr_)												((uint16_t*)(&(_arr_)))
+/** 
+	* @brief 	Macros to set pointer to register
+	* @param 	_parr_ 				- массив регистров.
+	* @param 	_addr_ 				- Номер регистра (его индекс) от начала массива _arr_.
+	*/
+#define MB_Set_Register_Ptr(_parr_, _addr_)						((uint16_t *)(_parr_)+(_addr_))
+
+/** 
+	* @brief 	Macros to set pointer to a certain register that contains certain coil
+	* @param 	_parr_ 				- массив коилов.
+	* @param 	_coil_ 				- Номер коила от начала массива _arr_.
+	*	@note		Пояснение выражений
+	* 					(_coil_/16) - get index (address shift) of register that contain certain coil 
+	*						(16*(_coil_/16) - how many coils we need to skip. e.g. (16*30/16) - skip 16 coils from first register
+	*						_coil_-(16*(_coil_/16)) - shift to certain coil in certain register
+	*					e.g. Coil(30) gets in register[1] (30/16 = 1) coil №14 (30 - (16*30/16) = 30 - 16 = 14)
+	* 
+	* Visual explanation:
+	* xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxCx
+	* |register[0]----|	|register[1]----|
+	*	|skip this------|	|get this-------|
+	*										|shift to 14 bit|
+	*/
+#define MB_Set_Coil_Reg_Ptr(_parr_, _coil_)						((uint16_t *)(_parr_)+((_coil_)/16))
+#define MB_Set_Coil_Mask(_coil_)											(1 << ( _coil_ - (16*((_coil_)/16)) ))
+	
+/** 
+	* @brief 	Read Coil at its local address.
+	* @param 	_parr_ 				- массив коилов.
+	* @param 	_coil_ 				- Номер коила от начала массива _arr_.
+	* @return uint16_t			- Возвращает запрошенный коил на 0м бите.
+	*
+  * @note 	Позволяет обратиться к коилу по адресу относительно _arr_.
+	*/
+#define MB_Read_Coil_Local(_parr_, _coil_)					((	*MB_Set_Coil_Reg_Ptr(_parr_, _coil_)	&		MB_Set_Coil_Mask(_coil_) ) >> (_coil_))
+/** 
+	* @brief 	Set Coil at its local address.
+	* @param 	_parr_ 				- указатель на массив коилов.
+	* @param 	_coil_ 				- Номер коила от начала массива _arr_.
+	*	
+  * @note 	Позволяет обратиться к коилу по адресу относительно _arr_.
+	*/
+#define	MB_Set_Coil_Local(_parr_, _coil_)							*MB_Set_Coil_Reg_Ptr(_parr_, _coil_) 	|= 	MB_Set_Coil_Mask(_coil_)
+/** 
+	* @brief 	Reset Coil at its local address.
+	* @param 	_parr_ 				- указатель на массив коилов.
+	* @param 	_coil_ 				- Номер коила от начала массива _arr_.
+	*
+  * @note 	Позволяет обратиться к коилу по адресу относительно _arr_.
+	*/
+#define MB_Reset_Coil_Local(_parr_, _coil_)						*MB_Set_Coil_Reg_Ptr(_parr_, _coil_) 	&= ~(MB_Set_Coil_Mask(_coil_))
+/** 
+	* @brief 	Set Coil at its local address.
+	* @param 	_parr_ 				- указатель на массив коилов.
+	* @param 	_coil_ 				- Номер коила от начала массива _arr_.
+	*	
+  * @note 	Позволяет обратиться к коилу по адресу относительно _arr_.
+	*/
+#define	MB_Toogle_Coil_Local(_parr_, _coil_)					*MB_Set_Coil_Reg_Ptr(_parr_, _coil_) 	^= 	MB_Set_Coil_Mask(_coil_)
+//--------------------------------------------------
+
+
+//------------------OTHER DEFINES-------------------
+// create hadnles and settings for uart, tim, rs with _modbus_ name
+#define CONCAT(a,b) a##b
+#define Create_MODBUS_Handles(_modbus_)												\
+				UART_SettingsTypeDef CONCAT(_modbus_, _suart);				\
+				UART_HandleTypeDef CONCAT(_modbus_, _huart);					\
+				TIM_SettingsTypeDef CONCAT(_modbus_, _stim);					\
+				TIM_HandleTypeDef CONCAT(_modbus_, _htim);						\
+				RS_HandleTypeDef CONCAT(h, _modbus_)	
+//--------------------------------------------------
+///////////////////---MODBUS & MESSAGE DEFINES---////////////////////
+
+
+
+/////////////////////////////////////////////////////////////////////
+////////////////////---FUNCTIONS FOR USER---/////////////////////////
+/** 
+	* @brief 	First set up of MODBUS.
+	* @note 	Первый инит модбас. Заполняет структуры и инициализирует таймер и юарт для общения по модбас.
+	* 				Скважность ШИМ меняется по закону синусоиды, каждый канал генерирует свой полупериод синуса (от -1 до 0 И от 0 до 1)
+	* 				ШИМ генерируется на одном канале.
+	* @note		This called from main
+	*/
+void MODBUS_FirstInit(void);
+/** 
+	* @brief 	Set or Reset Coil at its global address.
+	* @param 	Addr 					- адрес коила.
+	* @param 	WriteVal 			- Что записать в коил: 0 или 1.
+	* @return ExceptionCode	- Код исключения если коила по адресу не существует, и NO_ERRORS если все ок.
+	*
+  * @note 	Позволяет обратиться к любому коилу по его глобальному адрессу.
+						Вне зависимости от того как коилы размещены в памяти.
+	*/
+MB_ExceptionTypeDef MB_Write_Coil_Global(uint16_t Addr, MB_CoilsOpTypeDef WriteVal);
+/** 
+	* @brief 	Read Coil at its global address.
+	* @param 	Addr 					- адрес коила.
+	* @param 	Exception 		- Указатель на переменную для кода исключения, в случа неудачи при чтении.
+	* @return uint16_t			- Возвращает весь регистр с маской на запрошенном коиле.
+	*
+  * @note 	Позволяет обратиться к любому коилу по его глобальному адрессу.
+						Вне зависимости от того как коилы размещены в памяти.
+	*/
+uint16_t MB_Read_Coil_Global(uint16_t Addr, MB_ExceptionTypeDef *Exception);
+////////////////////---FUNCTIONS FOR USER---/////////////////////////
+
+
+
+/////////////////////////////////////////////////////////////////////
+/////////////---PROCESS MODBUS COMMAND FUNCTIONS---//////////////////
+/** 
+	* @brief 	Check is address valid for certain array.
+	* @param 	Addr 					- начальный адресс.
+	* @param 	Qnt 					- количество запрашиваемых элементов.
+	* @param 	R_ARR_ADDR 		- начальный адресс массива R_ARR.
+	* @param 	R_ARR_NUMB 		- количество элементов в массиве R_ARR.
+	* @return ExceptionCode	- ILLEGAL DATA ADRESS если адресс недействителен, и NO_ERRORS если все ок.
+	*
+	* @note 	Позволяет определить, брать ли данные по адрессу Addr из массива R_ARR.
+	*					Если адресс Addr находится в диапазоне адрессов массива R_ARR, то возвращаем NO_ERROR.
+	*					Если адресс Addr находится за пределами адрессов массива R_ARR - ILLEGAL_DATA_ADDRESSю.
+	*/
+MB_ExceptionTypeDef MB_Check_Address_For_Arr(uint16_t Addr, uint16_t Qnt, uint16_t R_ARR_ADDR, uint16_t R_ARR_NUMB);
+/** 
+	* @brief 	Define Address Origin for Input/Holding Registers
+	* @param 	pRegs 				- указатель на указатель регистров.
+	* @param 	Addr 					- адрес начального регистра.
+	* @param 	Qnt 					- количество запрашиваемых регистров.
+	* @param 	WriteFlag 		- флаг регистр нужны для чтения или записи.
+	* @return ExceptionCode	- Код исключения если есть, и NO_ERRORS если нет.
+	*
+  * @note 	Определение адреса начального регистра.
+	* @note 	WriteFlag пока не используется.
+	*/
+MB_ExceptionTypeDef MB_DefineRegistersAddress(uint16_t **pRegs, uint16_t Addr, uint16_t Qnt, uint8_t WriteFlag);
+/** 
+	* @brief 	Define Address Origin for coils
+	* @param 	pCoils 				- указатель на указатель коилов.
+	* @param 	Addr 					- адресс начального коила.
+	* @param 	Qnt 					- количество запрашиваемых коилов.
+	* @param 	start_shift 	- указатель на переменную содержащую сдвиг внутри регистра для начального коила.
+	* @param 	WriteFlag 		- флаг коилы нужны для чтения или записи.
+	* @return ExceptionCode	- Код исключения если есть, и NO_ERRORS если нет.
+	*
+  * @note 	Определение адреса начального регистра запрашиваемых коилов.
+	* @note 	WriteFlag используется для определния регистров GPIO: ODR или IDR.
+	*/
+MB_ExceptionTypeDef MB_DefineCoilsAddress(uint16_t **pCoils, uint16_t Addr, uint16_t Qnt, uint16_t *start_shift, uint8_t WriteFlag);
+/** 
+	* @brief 	Proccess command Read Coils (01 - 0x01).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Read Coils.
+*/
+uint8_t MB_Read_Coils(RS_MsgTypeDef *modbus_msg);
+/**
+	* @brief 	Proccess command Read Holding Registers (03 - 0x03).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Read Holding Registers.
+*/
+uint8_t MB_Read_Hold_Regs(RS_MsgTypeDef *modbus_msg);
+/**
+	* @brief 	Proccess command Write Single Coils (05 - 0x05).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Write Single Coils.
+*/
+uint8_t MB_Write_Single_Coil(RS_MsgTypeDef *modbus_msg);
+/**
+	* @brief 	Proccess command Write Multiple Coils (15 - 0x0F).
+	* @param 	modbus_msg 			- указатель на структуру собщения modbus.
+	* @return fMessageHandled	- статус о результате обработки комманды.
+	* @note 	Обработка команды Write Multiple Coils.
+*/
+uint8_t MB_Write_Miltuple_Coils(RS_MsgTypeDef *modbus_msg);
+/**
+	* @brief 	Proccess command Write Multiple Register (16 - 0x10).
+	* @param 	modbus_msg 				- указатель на структуру собщения modbus.
+	* @return fMessageHandled		- статус о результате обработки комманды.
+	* @note 	Обработка команды Write Multiple Register.
+	*/
+uint8_t MB_Write_Miltuple_Regs(RS_MsgTypeDef *modbus_msg);
+/////////////---PROCESS MODBUS COMMAND FUNCTIONS---//////////////////
+
+/////////////////////////////////////////////////////////////////////
+/////////////////////////---CALC DEFINES---//////////////////////////
+
+/* set USART_TypeDef for choosen numb of usart */
+#if (MODBUS_UART_NUMB == 1) 
+	#define USED_MODBUS_UART					USART1 
+	#define USE_USART1
+#elif (MODBUS_UART_NUMB == 2)
+	#define USED_MODBUS_UART					USART2 
+	#define USE_USART2
+#elif (MODBUS_UART_NUMB == 3)
+	#define USED_MODBUS_UART					USART3 
+	#define USE_USART3
+#elif (MODBUS_UART_NUMB == 4)
+	#define USED_MODBUS_UART					UART4 
+	#define USE_UART4
+#elif (MODBUS_UART_NUMB == 5)
+	#define USED_MODBUS_UART					UART5
+	#define USE_UART6
+#elif (MODBUS_UART_NUMB == 6)
+	#define USED_MODBUS_UART					USART6 
+	#define USE_USART6
+#endif
+
+#if (MODBUS_TIM_NUMB == 1) 
+	#define USED_MODBUS_TIM					TIM1 
+	#define USE_TIM1
+#elif (MODBUS_TIM_NUMB == 2)
+	#define USED_MODBUS_TIM					TIM2 
+	#define USE_TIM2
+#elif (MODBUS_TIM_NUMB == 3)
+	#define USED_MODBUS_TIM					TIM3 
+	#define USE_TIM3
+#elif (MODBUS_TIM_NUMB == 4)
+	#define USED_MODBUS_TIM					TIM4 
+	#define USE_TIM4
+#elif (MODBUS_TIM_NUMB == 5)
+	#define USED_MODBUS_TIM					TIM5
+	#define USE_TIM5
+#elif (MODBUS_TIM_NUMB == 6)
+	#define USED_MODBUS_TIM					TIM6 
+	#define USE_TIM6
+#elif (MODBUS_TIM_NUMB == 7)
+	#define USED_MODBUS_TIM					TIM7 
+	#define USE_TIM7
+#elif (MODBUS_TIM_NUMB == 8)
+	#define USED_MODBUS_TIM					TIM8
+	#define USE_TIM8 
+#elif (MODBUS_TIM_NUMB == 9)
+	#define USED_MODBUS_TIM					TIM9 
+	#define USE_TIM9
+#elif (MODBUS_TIM_NUMB == 10)
+	#define USED_MODBUS_TIM					TIM10 
+	#define USE_TIM10
+#elif (MODBUS_TIM_NUMB == 11)
+	#define USED_MODBUS_TIM					TIM11
+	#define USE_TIM11
+#elif (MODBUS_TIM_NUMB == 12)
+	#define USED_MODBUS_TIM					TIM12 
+	#define USE_TIM12
+#elif (MODBUS_TIM_NUMB == 13)
+	#define USED_MODBUS_TIM					TIM13 
+	#define USE_TIM13
+#elif (MODBUS_TIM_NUMB == 14)
+	#define USED_MODBUS_TIM					TIM14 
+	#define USE_TIM14
+#endif
+
+
+#endif //__MODBUS_H_

научка/code/pwm_motor_control/Modbus/crc_algs.c

@@ -0,0 +1,116 @@
+#include "crc_algs.h"
+
+
+uint32_t CRC_calc;
+uint32_t CRC_ref;
+
+//uint16_t CRC_calc;
+//uint16_t CRC_ref;
+
+
+// left this global for debug
+uint8_t uchCRCHi = 0xFF;  
+uint8_t uchCRCLo = 0xFF; 
+unsigned uIndex;    
+
+
+uint32_t crc32(uint8_t *data, uint32_t data_size)
+{
+	static const unsigned int crc32_table[] =
+{
+	0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3, 
+	0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91, 
+	0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, 
+	0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, 
+	0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B, 
+	0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59, 
+	0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F, 
+	0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D, 
+	0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433, 
+	0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01, 
+	0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457, 
+	0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65, 
+	0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, 
+	0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9, 
+	0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F, 
+	0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD, 
+	0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683, 
+	0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, 
+	0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7, 
+	0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5, 
+	0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, 
+	0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79, 
+	0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F, 
+	0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D, 
+	0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713, 
+	0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, 
+	0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777, 
+	0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45, 
+	0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, 
+	0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9, 
+	0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF, 
+	0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D
+};  
+unsigned int crc = 0xFFFFFFFF;
+  while (data_size--)
+    {
+      crc = (crc >> 8) ^ crc32_table[(crc ^ *data) & 255];
+      data++;
+    }
+  return crc^0xFFFFFFFF;
+}
+
+
+uint16_t crc16(uint8_t *data, uint32_t data_size)
+{	
+	/*Table of CRC values for high order byte*/
+	static unsigned char auchCRCHi[]=
+	{
+			0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
+			0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
+			0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
+			0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
+			0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
+			0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
+			0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
+			0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
+			0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
+			0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
+			0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
+			0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
+			0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
+			0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
+			0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,
+			0x00,0xC1,0x81,0x40,0x01,0xC0,0x80,0x41,0x01,0xC0,0x80,0x41,0x00,0xC1,0x81,0x40,
+	};
+	/*Table of CRC values for low order byte*/
+	static char auchCRCLo[] =
+	{
+					0x00,0xC0,0xC1,0x01,0xC3,0x03,0x02,0xC2,0xC6,0x06,0x07,0xC7,0x05,0xC5,0xC4,0x04,
+					0xCC,0x0C,0x0D,0xCD,0x0F,0xCF,0xCE,0x0E,0x0A,0xCA,0xCB,0x0B,0xC9,0x09,0x08,0xC8,
+					0xD8,0x18,0x19,0xD9,0x1B,0xDB,0xDA,0x1A,0x1E,0xDE,0xDF,0x1F,0xDD,0x1D,0x1C,0xDC,
+					0x14,0xD4,0xD5,0x15,0xD7,0x17,0x16,0xD6,0xD2,0x12,0x13,0xD3,0x11,0xD1,0xD0,0x10,
+					0xF0,0x30,0x31,0xF1,0x33,0xF3,0xF2,0x32,0x36,0xF6,0xF7,0x37,0xF5,0x35,0x34,0xF4,
+					0x3C,0xFC,0xFD,0x3D,0xFF,0x3F,0x3E,0xFE,0xFA,0x3A,0x3B,0xFB,0x39,0xF9,0xF8,0x38,
+					0x28,0xE8,0xE9,0x29,0xEB,0x2B,0x2A,0xEA,0xEE,0x2E,0x2F,0xEF,0x2D,0xED,0xEC,0x2C,
+					0xE4,0x24,0x25,0xE5,0x27,0xE7,0xE6,0x26,0x22,0xE2,0xE3,0x23,0xE1,0x21,0x20,0xE0,
+					0xA0,0x60,0x61,0xA1,0x63,0xA3,0xA2,0x62,0x66,0xA6,0xA7,0x67,0xA5,0x65,0x64,0xA4,
+					0x6C,0xAC,0xAD,0x6D,0xAF,0x6F,0x6E,0xAE,0xAA,0x6A,0x6B,0xAB,0x69,0xA9,0xA8,0x68,
+					0x78,0xB8,0xB9,0x79,0xBB,0x7B,0x7A,0xBA,0xBE,0x7E,0x7F,0xBF,0x7D,0xBD,0xBC,0x7C,
+					0xB4,0x74,0x75,0xB5,0x77,0xB7,0xB6,0x76,0x72,0xB2,0xB3,0x73,0xB1,0x71,0x70,0xB0,
+					0x50,0x90,0x91,0x51,0x93,0x53,0x52,0x92,0x96,0x56,0x57,0x97,0x55,0x95,0x94,0x54,
+					0x9C,0x5C,0x5D,0x9D,0x5F,0x9F,0x9E,0x5E,0x5A,0x9A,0x9B,0x5B,0x99,0x59,0x58,0x98,
+					0x88,0x48,0x49,0x89,0x4B,0x8B,0x8A,0x4A,0x4E,0x8E,0x8F,0x4F,0x8D,0x4D,0x4C,0x8C,
+					0x44,0x84,0x85,0x45,0x87,0x47,0x46,0x86,0x82,0x42,0x43,0x83,0x41,0x81,0x80,0x40,
+			};
+	uchCRCHi = 0xFF;  
+  uchCRCLo = 0xFF;   
+    /* CRC Generation Function */
+  while( data_size--) /* pass through message buffer */
+  {
+    uIndex = uchCRCHi ^ *data++; /* calculate the CRC */
+    uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];
+		uchCRCLo = auchCRCLo[uIndex];
+  }
+	return uchCRCHi | uchCRCLo<<8;
+} 

научка/code/pwm_motor_control/Modbus/crc_algs.h

@@ -0,0 +1,9 @@
+#include "main.h"
+
+// extern here to use in bootloader.c
+extern uint32_t CRC_calc;
+extern uint32_t CRC_ref;
+
+
+uint16_t crc16(uint8_t *data, uint32_t data_size);
+uint32_t crc32(uint8_t *data, uint32_t data_size);

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+<tr id="row_1_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_r_s___msg_type_def.html" target="_self">RS_MsgTypeDef</a></td><td class="desc"></td></tr>
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научка/code/pwm_motor_control/Modbus/html/classes.html

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научка/code/pwm_motor_control/Modbus/html/cookie.js

@@ -0,0 +1,58 @@
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+}

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+$(function() { codefold.init(0); });
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+  <div class="headertitle"><div class="title">crc_algs.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#include &quot;main.h&quot;</span></div>
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+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="keyword">extern</span> uint32_t CRC_calc;</div>
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+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>uint32_t crc32(uint8_t *data, uint32_t data_size);</div>
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научка/code/pwm_motor_control/Modbus/html/doxygen.css

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+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+	text-shadow: 0 0 15px var(--glow-color);
+}
+
+dt {
+	font-weight: bold;
+}
+
+p.startli, p.startdd {
+	margin-top: 2px;
+}
+
+th p.starttd, th p.intertd, th p.endtd {
+        font-size: 100%;
+        font-weight: 700;
+}
+
+p.starttd {
+	margin-top: 0px;
+}
+
+p.endli {
+	margin-bottom: 0px;
+}
+
+p.enddd {
+	margin-bottom: 4px;
+}
+
+p.endtd {
+	margin-bottom: 2px;
+}
+
+p.interli {
+}
+
+p.interdd {
+}
+
+p.intertd {
+}
+
+/* @end */
+
+caption {
+	font-weight: bold;
+}
+
+span.legend {
+	font-size: 70%;
+	text-align: center;
+}
+
+h3.version {
+	font-size: 90%;
+	text-align: center;
+}
+
+div.navtab {
+	padding-right: 15px;
+	text-align: right;
+	line-height: 110%;
+}
+
+div.navtab table {
+	border-spacing: 0;
+}
+
+td.navtab {
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL {
+	background-image: var(--nav-gradient-active-image);
+	background-repeat:repeat-x;
+	padding-right: 6px;
+	padding-left: 6px;
+}
+
+td.navtabHL a, td.navtabHL a:visited {
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+a.navtab {
+	font-weight: bold;
+}
+
+div.qindex{
+	text-align: center;
+	width: 100%;
+	line-height: 140%;
+	font-size: 130%;
+	color: var(--index-separator-color);
+}
+
+#main-menu a:focus {
+	outline: auto;
+	z-index: 10;
+	position: relative;
+}
+
+dt.alphachar{
+	font-size: 180%;
+	font-weight: bold;
+}
+
+.alphachar a{
+	color: var(--index-header-color);
+}
+
+.alphachar a:hover, .alphachar a:visited{
+	text-decoration: none;
+}
+
+.classindex dl {
+	padding: 25px;
+	column-count:1
+}
+
+.classindex dd {
+	display:inline-block;
+	margin-left: 50px;
+	width: 90%;
+	line-height: 1.15em;
+}
+
+.classindex dl.even {
+	background-color: var(--index-even-item-bg-color);
+}
+
+.classindex dl.odd {
+	background-color: var(--index-odd-item-bg-color);
+}
+
+@media(min-width: 1120px) {
+	.classindex dl {
+		column-count:2
+	}
+}
+
+@media(min-width: 1320px) {
+	.classindex dl {
+		column-count:3
+	}
+}
+
+
+/* @group Link Styling */
+
+a {
+	color: var(--page-link-color);
+	font-weight: normal;
+	text-decoration: none;
+}
+
+.contents a:visited {
+	color: var(--page-visited-link-color);
+}
+
+a:hover {
+	text-decoration: none;
+	background:   linear-gradient(to bottom, transparent 0,transparent calc(100% - 1px), currentColor 100%);
+}
+
+a:hover > span.arrow {
+        text-decoration: none;
+        background : var(--nav-background-color);
+}
+
+a.el {
+	font-weight: bold;
+}
+
+a.elRef {
+}
+
+a.code, a.code:visited, a.line, a.line:visited {
+	color: var(--code-link-color);
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: var(--code-external-link-color);
+}
+
+a.code.hl_class { /* style for links to class names in code snippets */ }
+a.code.hl_struct { /* style for links to struct names in code snippets */ }
+a.code.hl_union { /* style for links to union names in code snippets */ }
+a.code.hl_interface { /* style for links to interface names in code snippets */ }
+a.code.hl_protocol { /* style for links to protocol names in code snippets */ }
+a.code.hl_category { /* style for links to category names in code snippets */ }
+a.code.hl_exception { /* style for links to exception names in code snippets */ }
+a.code.hl_service { /* style for links to service names in code snippets */ }
+a.code.hl_singleton { /* style for links to singleton names in code snippets */ }
+a.code.hl_concept { /* style for links to concept names in code snippets */ }
+a.code.hl_namespace { /* style for links to namespace names in code snippets */ }
+a.code.hl_package { /* style for links to package names in code snippets */ }
+a.code.hl_define { /* style for links to macro names in code snippets */ }
+a.code.hl_function { /* style for links to function names in code snippets */ }
+a.code.hl_variable { /* style for links to variable names in code snippets */ }
+a.code.hl_typedef { /* style for links to typedef names in code snippets */ }
+a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ }
+a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ }
+a.code.hl_signal { /* style for links to Qt signal names in code snippets */ }
+a.code.hl_slot { /* style for links to Qt slot names in code snippets */ }
+a.code.hl_friend { /* style for links to friend names in code snippets */ }
+a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ }
+a.code.hl_property { /* style for links to property names in code snippets */ }
+a.code.hl_event { /* style for links to event names in code snippets */ }
+a.code.hl_sequence { /* style for links to sequence names in code snippets */ }
+a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ }
+
+/* @end */
+
+dl.el {
+	margin-left: -1cm;
+}
+
+ul {
+  overflow: visible;
+}
+
+ul.multicol {
+        -moz-column-gap: 1em;
+        -webkit-column-gap: 1em;
+        column-gap: 1em;
+        -moz-column-count: 3;
+        -webkit-column-count: 3;
+        column-count: 3;
+        list-style-type: none;
+}
+
+#side-nav ul {
+  overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
+}
+
+#main-nav ul {
+  overflow: visible; /* reset ul rule for the navigation bar drop down lists */
+}
+
+.fragment {
+  text-align: left;
+  direction: ltr;
+  overflow-x: auto;
+  overflow-y: hidden;
+  position: relative;
+  min-height: 12px;
+  margin: 10px 0px;
+  padding: 10px 10px;
+  border: 1px solid var(--fragment-border-color);
+  border-radius: 4px;
+  background-color: var(--fragment-background-color);
+  color: var(--fragment-foreground-color);
+}
+
+pre.fragment {
+  word-wrap: break-word;
+  font-size:  10pt;
+  line-height: 125%;
+  font-family: var(--font-family-monospace);
+}
+
+.clipboard {
+        width: 24px;
+        height: 24px;
+        right: 5px;
+        top: 5px;
+        opacity: 0;
+        position: absolute;
+        display: inline;
+        overflow: auto;
+        fill: var(--fragment-foreground-color);
+        justify-content: center;
+        align-items: center;
+        cursor: pointer;
+}
+
+.clipboard.success {
+        border: 1px solid var(--fragment-foreground-color);
+        border-radius: 4px;
+}
+
+.fragment:hover .clipboard, .clipboard.success {
+        opacity: .28;
+}
+
+.clipboard:hover, .clipboard.success {
+        opacity: 1 !important;
+}
+
+.clipboard:active:not([class~=success]) svg {
+        transform: scale(.91);
+}
+
+.clipboard.success svg {
+        fill: var(--fragment-copy-ok-color);
+}
+
+.clipboard.success {
+        border-color: var(--fragment-copy-ok-color);
+}
+
+div.line {
+	font-family: var(--font-family-monospace);
+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.2;
+	text-wrap: unrestricted;
+	white-space: -moz-pre-wrap; /* Moz */
+	white-space: -pre-wrap;     /* Opera 4-6 */
+	white-space: -o-pre-wrap;   /* Opera 7 */
+	white-space: pre-wrap;      /* CSS3  */
+	word-wrap: break-word;      /* IE 5.5+ */
+	text-indent: -53px;
+	padding-left: 53px;
+	padding-bottom: 0px;
+	margin: 0px;
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+div.line:after {
+    content:"\000A";
+    white-space: pre;
+}
+
+div.line.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 10px var(--glow-color);
+}
+
+span.fold {
+        margin-left: 5px;
+        margin-right: 1px;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+	display: inline-block;
+	width: 12px;
+	height: 12px;
+	background-repeat:no-repeat;
+        background-position:center;
+}
+
+span.lineno {
+	padding-right: 4px;
+        margin-right: 9px;
+	text-align: right;
+	border-right: 2px solid var(--fragment-lineno-border-color);
+	color: var(--fragment-lineno-foreground-color);
+	background-color: var(--fragment-lineno-background-color);
+        white-space: pre;
+}
+span.lineno a, span.lineno a:visited {
+	color: var(--fragment-lineno-link-fg-color);
+	background-color: var(--fragment-lineno-link-bg-color);
+}
+
+span.lineno a:hover {
+	color: var(--fragment-lineno-link-hover-fg-color);
+	background-color: var(--fragment-lineno-link-hover-bg-color);
+}
+
+.lineno {
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	color: var(--page-foreground-color);
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.dark-mode-visible {
+	display: none;
+}
+img.light-mode-visible {
+	display: none;
+}
+
+img.formulaInl, img.inline {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+	width: var(--footer-logo-width);
+}
+
+.compoundTemplParams {
+	color: var(--memdecl-template-color);
+	font-size: 80%;
+	line-height: 120%;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: var(--code-keyword-color);
+}
+
+span.keywordtype {
+	color: var(--code-type-keyword-color);
+}
+
+span.keywordflow {
+	color: var(--code-flow-keyword-color);
+}
+
+span.comment {
+	color: var(--code-comment-color);
+}
+
+span.preprocessor {
+	color: var(--code-preprocessor-color);
+}
+
+span.stringliteral {
+	color: var(--code-string-literal-color);
+}
+
+span.charliteral {
+	color: var(--code-char-literal-color);
+}
+
+span.xmlcdata {
+	color: var(--code-xml-cdata-color);
+}
+
+span.vhdldigit { 
+	color: var(--code-vhdl-digit-color);
+}
+
+span.vhdlchar { 
+	color: var(--code-vhdl-char-color);
+}
+
+span.vhdlkeyword { 
+	color: var(--code-vhdl-keyword-color);
+}
+
+span.vhdllogic { 
+	color: var(--code-vhdl-logic-color);
+}
+
+blockquote {
+        background-color: var(--blockquote-background-color);
+        border-left: 2px solid var(--blockquote-border-color);
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid var(--table-cell-border-color);
+}
+
+th.dirtab {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid var(--separator-color);
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 15px var(--glow-color);
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: var(--memdecl-background-color);
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: var(--memdecl-foreground-color);
+}
+
+.memSeparator {
+        border-bottom: 1px solid var(--memdecl-separator-color);
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: var(--memdecl-template-color);
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid var(--memdef-border-color);
+	border-left: 1px solid var(--memdef-border-color);
+	border-right: 1px solid var(--memdef-border-color);
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: var(--memdef-title-gradient-image);
+	background-repeat: repeat-x;
+	background-color: var(--memdef-title-background-color);
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: var(--memdef-template-color);
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px var(--glow-color);
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 0px 6px 0px;
+        color: var(--memdef-proto-text-color);
+        font-weight: bold;
+        text-shadow: var(--memdef-proto-text-shadow);
+        background-color: var(--memdef-proto-background-color);
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+}
+
+.overload {
+        font-family: var(--font-family-monospace);
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 10px 2px 10px;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: var(--memdef-doc-background-color);
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+	padding: 0px;
+	padding-bottom: 1px;
+}
+
+.paramname {
+	white-space: nowrap;
+        padding: 0px;
+        padding-bottom: 1px;
+        margin-left: 2px;
+}
+
+.paramname em {
+	color: var(--memdef-param-name-color);
+	font-style: normal;
+	margin-right: 1px;
+}
+
+.paramname .paramdefval {
+	font-family: var(--font-family-monospace);
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}
+
+.params .paramdir, .tparams .paramdir {
+        font-family: var(--font-family-monospace);
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: var(--label-background-color);
+        border-top:1px solid var(--label-left-top-border-color);
+        border-left:1px solid var(--label-left-top-border-color);
+        border-right:1px solid var(--label-right-bottom-border-color);
+        border-bottom:1px solid var(--label-right-bottom-border-color);
+	text-shadow: none;
+	color: var(--label-foreground-color);
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid var(--directory-separator-color);
+        border-bottom: 1px solid var(--directory-separator-color);
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.odd {
+	padding-left: 6px;
+	background-color: var(--index-odd-item-bg-color);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: var(--index-even-item-bg-color);
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: var(--page-link-color);
+}
+
+.arrow {
+    color: var(--nav-arrow-color);
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: var(--font-family-icon);
+    line-height: normal;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: var(--icon-background-color);
+    color: var(--icon-foreground-color);
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-folder-open-image);
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-folder-closed-image);
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-doc-image);
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: var(--footer-foreground-color);
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        margin-bottom: 10px;
+        border: 1px solid var(--memdef-border-color);
+        border-spacing: 0px;
+        border-radius: 4px;
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid var(--memdef-border-color);
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}
+
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image: var(--memdef-title-gradient-image);
+        background-repeat:repeat-x;
+        background-color: var(--memdef-title-background-color);
+        font-size: 90%;
+        color: var(--memdef-proto-text-color);
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: var(--nav-gradient-image);
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image: var(--nav-gradient-image);
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:var(--nav-text-normal-color);
+	border:solid 1px var(--nav-breadcrumb-border-color);
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:var(--nav-breadcrumb-image);
+	background-repeat:no-repeat;
+	background-position:right;
+	color: var(--nav-foreground-color);
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	outline: none;
+	color: var(--nav-text-normal-color);
+	font-family: var(--font-family-nav);
+	text-shadow: var(--nav-text-normal-shadow);
+	text-decoration: none;
+}
+
+.navpath li.navelem a:hover
+{
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color: var(--footer-foreground-color);
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0;
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image: var(--header-gradient-image);
+        background-repeat:repeat-x;
+	background-color: var(--header-background-color);
+	margin:  0px;
+	border-bottom: 1px solid var(--header-separator-color);
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/*
+
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+*/
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a, dl.test a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug,
+dl.invariant, dl.pre, dl.post, dl.todo, dl.test, dl.remark {
+    padding: 10px;
+    margin: 10px 0px;
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: 4px;
+}
+
+dl.section dd {
+    margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+    background: var(--warning-color-bg);
+    border-left: 8px solid var(--warning-color-hl);
+    color: var(--warning-color-text);
+}
+
+dl.warning dt, dl.attention dt {
+    color: var(--warning-color-hl);
+}
+
+dl.note, dl.remark {
+    background: var(--note-color-bg);
+    border-left: 8px solid var(--note-color-hl);
+    color: var(--note-color-text);
+}
+
+dl.note dt, dl.remark dt {
+    color: var(--note-color-hl);
+}
+
+dl.todo {
+    background: var(--todo-color-bg);
+    border-left: 8px solid var(--todo-color-hl);
+    color: var(--todo-color-text);
+}
+
+dl.todo dt {
+    color: var(--todo-color-hl);
+}
+
+dl.test {
+    background: var(--test-color-bg);
+    border-left: 8px solid var(--test-color-hl);
+    color: var(--test-color-text);
+}
+
+dl.test dt {
+    color: var(--test-color-hl);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-hl) !important;
+}
+
+dl.bug {
+    background: var(--bug-color-bg);
+    border-left: 8px solid var(--bug-color-hl);
+    color: var(--bug-color-text);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-hl) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color-bg);
+    border-left: 8px solid var(--deprecated-color-hl);
+    color: var(--deprecated-color-text);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-hl) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd, dl.test dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color-bg);
+    border-left: 8px solid var(--invariant-color-hl);
+    color: var(--invariant-color-text);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-hl);
+}
+
+
+#projectrow
+{
+	height: 56px;
+}
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+
+#projectlogo img
+{
+	border: 0px none;
+}
+
+#projectalign
+{
+        vertical-align: middle;
+        padding-left: 0.5em;
+}
+
+#projectname
+{
+	font-size: 200%;
+	font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 2px 0px;
+}
+
+#projectbrief
+{
+	font-size: 90%;
+        font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font-size: 50%;
+	font-family: 50% var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid var(--title-separator-color);
+	background-color: var(--title-background-color);
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:var(--citation-label-color);
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+        text-align:right;
+        width:52px;
+}
+
+dl.citelist dd {
+        margin:2px 0 2px 72px;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: var(--toc-background-color);
+        border: 1px solid var(--toc-border-color);
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+div.toc li {
+        background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 var(--font-family-toc);
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 var(--font-family-toc);
+	color: var(--toc-header-color);
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 15px;
+}
+
+div.toc li.level4 {
+        margin-left: 15px;
+}
+
+span.emoji {
+        /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html
+         * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort;
+         */
+}
+
+span.obfuscator {
+  display: none;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: var(--inherit-header-color);
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	/*white-space: nowrap;*/
+        color: var(--tooltip-foreground-color);
+	background-color: var(--tooltip-background-color);
+	border: 1px solid var(--tooltip-border-color);
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: var(--tooltip-shadow);
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: var(--tooltip-doc-color);
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip a {
+	color: var(--tooltip-link-color);
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: var(--tooltip-declaration-color);
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font-size: 12px;
+       	font-family: var(--font-family-tooltip);
+	line-height: 16px;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
+#powerTip.sw:before, #powerTip.se:before {
+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before {
+	border-top-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
+#powerTip.nw:after, #powerTip.nw:before {
+	right: 14px;
+}
+
+#powerTip.ne:after, #powerTip.ne:before {
+	left: 14px;
+}
+
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	bottom: 100%;
+}
+
+#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
+	border-bottom-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+
+#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
+	border-bottom-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+
+#powerTip.s:after, #powerTip.s:before {
+	left: 50%;
+}
+
+#powerTip.sw:after, #powerTip.sw:before {
+	right: 14px;
+}
+
+#powerTip.se:after, #powerTip.se:before {
+	left: 14px;
+}
+
+#powerTip.e:after, #powerTip.e:before {
+	left: 100%;
+}
+#powerTip.e:after {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+#powerTip.w:after, #powerTip.w:before {
+	right: 100%;
+}
+#powerTip.w:after {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+@media print
+{
+  #top { display: none; }
+  #side-nav { display: none; }
+  #nav-path { display: none; }
+  body { overflow:visible; }
+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
+/* @group Markdown */
+
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.markdownTable td, table.markdownTable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.markdownTable tr {
+}
+
+th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight, td.markdownTableBodyRight {
+	text-align: right
+}
+
+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
+	text-align: center
+}
+
+tt, code, kbd, samp
+{
+  display: inline-block;
+}
+/* @end */
+
+u {
+	text-decoration: underline;
+}
+
+details>summary {
+  list-style-type: none;
+}
+
+details > summary::-webkit-details-marker {
+    display: none;
+}
+
+details>summary::before {
+    content: "\25ba";
+    padding-right:4px;
+    font-size: 80%;
+}
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+}
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+}
+

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+<head>
+<title>Validator / crawler helper</title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+</head>
+<body>
+<a href="crc__algs_8h_source.html"/>
+<a href="modbus_8h_source.html"/>
+<a href="rs__message_8h_source.html"/>
+<a href="tim__general_8h_source.html"/>
+<a href="struct_r_s___handle_type_def.html"/>
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научка/code/pwm_motor_control/Modbus/html/dynsections.js

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+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+
+let dynsection = {
+
+  // helper function
+  updateStripes : function() {
+    $('table.directory tr').
+      removeClass('even').filter(':visible:even').addClass('even');
+    $('table.directory tr').
+      removeClass('odd').filter(':visible:odd').addClass('odd');
+  },
+
+  toggleVisibility : function(linkObj) {
+    const base = $(linkObj).attr('id');
+    const summary = $('#'+base+'-summary');
+    const content = $('#'+base+'-content');
+    const trigger = $('#'+base+'-trigger');
+    const src=$(trigger).attr('src');
+    if (content.is(':visible')===true) {
+      content.hide();
+      summary.show();
+      $(linkObj).addClass('closed').removeClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      content.show();
+      summary.hide();
+      $(linkObj).removeClass('closed').addClass('opened');
+      $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+    return false;
+  },
+
+  toggleLevel : function(level) {
+    $('table.directory tr').each(function() {
+      const l = this.id.split('_').length-1;
+      const i = $('#img'+this.id.substring(3));
+      const a = $('#arr'+this.id.substring(3));
+      if (l<level+1) {
+        i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
+        a.html('&#9660;');
+        $(this).show();
+      } else if (l==level+1) {
+        i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
+        a.html('&#9658;');
+        $(this).show();
+      } else {
+        $(this).hide();
+      }
+    });
+    this.updateStripes();
+  },
+
+  toggleFolder : function(id) {
+    // the clicked row
+    const currentRow = $('#row_'+id);
+
+    // all rows after the clicked row
+    const rows = currentRow.nextAll("tr");
+
+    const re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+    // only match elements AFTER this one (can't hide elements before)
+    const childRows = rows.filter(function() { return this.id.match(re); });
+
+    // first row is visible we are HIDING
+    if (childRows.filter(':first').is(':visible')===true) {
+      // replace down arrow by right arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      currentRowSpans.filter(".arrow").html('&#9658;');
+      rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+    } else { // we are SHOWING
+      // replace right arrow by down arrow for current row
+      const currentRowSpans = currentRow.find("span");
+      currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
+      currentRowSpans.filter(".arrow").html('&#9660;');
+      // replace down arrows by right arrows for child rows
+      const childRowsSpans = childRows.find("span");
+      childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+      childRowsSpans.filter(".arrow").html('&#9658;');
+      childRows.show(); //show all children
+    }
+    this.updateStripes();
+  },
+
+  toggleInherit : function(id) {
+    const rows = $('tr.inherit.'+id);
+    const img = $('tr.inherit_header.'+id+' img');
+    const src = $(img).attr('src');
+    if (rows.filter(':first').is(':visible')===true) {
+      rows.css('display','none');
+      $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+    } else {
+      rows.css('display','table-row'); // using show() causes jump in firefox
+      $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+    }
+  },
+};
+
+let codefold = {
+  opened : true,
+
+  // in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes
+  plusImg:  [ "var(--fold-plus-image)",  "var(--fold-plus-image-relpath)" ],
+  minusImg: [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ],
+
+  // toggle all folding blocks
+  toggle_all : function(relPath) {
+    if (this.opened) {
+      $('#fold_all').css('background-image',this.plusImg[relPath]);
+      $('div[id^=foldopen]').hide();
+      $('div[id^=foldclosed]').show();
+    } else {
+      $('#fold_all').css('background-image',this.minusImg[relPath]);
+      $('div[id^=foldopen]').show();
+      $('div[id^=foldclosed]').hide();
+    }
+    this.opened=!this.opened;
+  },
+
+  // toggle single folding block
+  toggle : function(id) {
+    $('#foldopen'+id).toggle();
+    $('#foldclosed'+id).toggle();
+  },
+
+  init : function(relPath) {
+    $('span[class=lineno]').css({
+      'padding-right':'4px',
+      'margin-right':'2px',
+      'display':'inline-block',
+      'width':'54px',
+      'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%'
+    });
+    // add global toggle to first line
+    $('span[class=lineno]:first').append('<span class="fold" id="fold_all" '+
+      'onclick="javascript:codefold.toggle_all('+relPath+');" '+
+      'style="background-image:'+this.minusImg[relPath]+';"></span>');
+    // add vertical lines to other rows
+    $('span[class=lineno]').not(':eq(0)').append('<span class="fold"></span>');
+    // add toggle controls to lines with fold divs
+    $('div[class=foldopen]').each(function() {
+      // extract specific id to use
+      const id    = $(this).attr('id').replace('foldopen','');
+      // extract start and end foldable fragment attributes
+      const start = $(this).attr('data-start');
+      const end   = $(this).attr('data-end');
+      // replace normal fold span with controls for the first line of a foldable fragment
+      $(this).find('span[class=fold]:first').replaceWith('<span class="fold" '+
+                   'onclick="javascript:codefold.toggle(\''+id+'\');" '+
+                   'style="background-image:'+codefold.minusImg[relPath]+';"></span>');
+      // append div for folded (closed) representation
+      $(this).after('<div id="foldclosed'+id+'" class="foldclosed" style="display:none;"></div>');
+      // extract the first line from the "open" section to represent closed content
+      const line = $(this).children().first().clone();
+      // remove any glow that might still be active on the original line
+      $(line).removeClass('glow');
+      if (start) {
+        // if line already ends with a start marker (e.g. trailing {), remove it
+        $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),''));
+      }
+      // replace minus with plus symbol
+      $(line).find('span[class=fold]').css('background-image',codefold.plusImg[relPath]);
+      // append ellipsis
+      $(line).append(' '+start+'<a href="javascript:codefold.toggle(\''+id+'\')">&#8230;</a>'+end);
+      // insert constructed line into closed div
+      $('#foldclosed'+id).html(line);
+    });
+  },
+};
+/* @license-end */

научка/code/pwm_motor_control/Modbus/html/files.html

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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>My Project: File List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">My Project<span id="projectnumber">&#160;1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">File List</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all documented files with brief descriptions:</div><div class="directory">
+<table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a href="crc__algs_8h_source.html"><span class="icondoc"></span></a><b>crc_algs.h</b></td><td class="desc"></td></tr>
+<tr id="row_1_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a href="modbus_8h_source.html"><span class="icondoc"></span></a><b>modbus.h</b></td><td class="desc"></td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a href="rs__message_8h_source.html"><span class="icondoc"></span></a><b>rs_message.h</b></td><td class="desc"></td></tr>
+<tr id="row_3_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a href="tim__general_8h_source.html"><span class="icondoc"></span></a><b>tim_general.h</b></td><td class="desc"></td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
+</small></address>
+</body>
+</html>

научка/code/pwm_motor_control/Modbus/html/index.html

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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.10.0"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>My Project: Main Page</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<script type="text/javascript" src="clipboard.js"></script>
+<script type="text/javascript" src="cookie.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">My Project<span id="projectnumber">&#160;1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">My Project Documentation</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="doxygen_crawl.html"/>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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+</body>
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научка/code/pwm_motor_control/Modbus/html/menu.js

@@ -0,0 +1,134 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+  function makeTree(data,relPath) {
+    let result='';
+    if ('children' in data) {
+      result+='<ul>';
+      for (let i in data.children) {
+        let url;
+        const link = data.children[i].url;
+        if (link.substring(0,1)=='^') {
+          url = link.substring(1);
+        } else {
+          url = relPath+link;
+        }
+        result+='<li><a href="'+url+'">'+
+                                data.children[i].text+'</a>'+
+                                makeTree(data.children[i],relPath)+'</li>';
+      }
+      result+='</ul>';
+    }
+    return result;
+  }
+  let searchBoxHtml;
+  if (searchEnabled) {
+    if (serverSide) {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<div class="left">'+
+                  '<form id="FSearchBox" action="'+relPath+searchPage+
+                    '" method="get"><span id="MSearchSelectExt">&#160;</span>'+
+                  '<input type="text" id="MSearchField" name="query" value="" placeholder="'+search+
+                    '" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)"'+
+                    ' onblur="searchBox.OnSearchFieldFocus(false)"/>'+
+                  '</form>'+
+                 '</div>'+
+                 '<div class="right"></div>'+
+                '</div>';
+    } else {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<span class="left">'+
+                  '<span id="MSearchSelect" onmouseover="return searchBox.OnSearchSelectShow()"'+
+                     ' onmouseout="return searchBox.OnSearchSelectHide()">&#160;</span>'+
+                  '<input type="text" id="MSearchField" value="" placeholder="'+search+
+                    '" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" '+
+                    'onblur="searchBox.OnSearchFieldFocus(false)" '+
+                    'onkeyup="searchBox.OnSearchFieldChange(event)"/>'+
+                 '</span>'+
+                 '<span class="right"><a id="MSearchClose" '+
+                  'href="javascript:searchBox.CloseResultsWindow()">'+
+                  '<img id="MSearchCloseImg" border="0" src="'+relPath+
+                  'search/close.svg" alt=""/></a>'+
+                 '</span>'+
+                '</div>';
+    }
+  }
+
+  $('#main-nav').before('<div class="sm sm-dox"><input id="main-menu-state" type="checkbox"/>'+
+                        '<label class="main-menu-btn" for="main-menu-state">'+
+                        '<span class="main-menu-btn-icon"></span> '+
+                        'Toggle main menu visibility</label>'+
+                        '<span id="searchBoxPos1" style="position:absolute;right:8px;top:8px;height:36px;"></span>'+
+                        '</div>');
+  $('#main-nav').append(makeTree(menudata,relPath));
+  $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
+  if (searchBoxHtml) {
+    $('#main-menu').append('<li id="searchBoxPos2" style="float:right"></li>');
+  }
+  const $mainMenuState = $('#main-menu-state');
+  let prevWidth = 0;
+  if ($mainMenuState.length) {
+    const initResizableIfExists = function() {
+      if (typeof initResizable==='function') initResizable();
+    }
+    // animate mobile menu
+    $mainMenuState.change(function() {
+      const $menu = $('#main-menu');
+      let options = { duration: 250, step: initResizableIfExists };
+      if (this.checked) {
+        options['complete'] = () => $menu.css('display', 'block');
+        $menu.hide().slideDown(options);
+      } else {
+        options['complete'] = () => $menu.css('display', 'none');
+        $menu.show().slideUp(options);
+      }
+    });
+    // set default menu visibility
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+      const $menu = $('#main-menu');
+      const newWidth = $(window).outerWidth();
+      if (newWidth!=prevWidth) {
+        if ($(window).outerWidth()<768) {
+          $mainMenuState.prop('checked',false); $menu.hide();
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научка/code/pwm_motor_control/Modbus/html/menudata.js

@@ -0,0 +1,31 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var menudata={children:[
+{text:"Main Page",url:"index.html"},
+{text:"Data Structures",url:"annotated.html",children:[
+{text:"Data Structures",url:"annotated.html"},
+{text:"Data Structure Index",url:"classes.html"}]},
+{text:"Files",url:"files.html",children:[
+{text:"File List",url:"files.html"}]}]}

научка/code/pwm_motor_control/Modbus/html/minus.svg

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научка/code/pwm_motor_control/Modbus/html/minusd.svg

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научка/code/pwm_motor_control/Modbus/html/modbus_8h_source.html

@@ -0,0 +1,258 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>My Project: modbus.h Source File</title>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">My Project<span id="projectnumber">&#160;1.0</span>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.10.0 -->
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+
+<div class="header">
+  <div class="headertitle"><div class="title">modbus.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">/********************************MODBUS*************************************</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">Данный файл содержит объявления базовых функции и дефайны для реализации </span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">протоколов          </span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="comment">***************************************************************************/</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#ifndef __MODBUS_H_</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#define __MODBUS_H_</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &quot;main.h&quot;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="comment">//----------DEFINES FOR MODBUS SETTING--------------</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#define MB_UART_NUMB                            2           </span><span class="comment">// number of used uart</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">/* accord to this define sets define USED_MB_UART = USARTx */</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#define MB_TIM_NUMB                             7           </span><span class="comment">// number of used uart</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">/* accord to this define sets define USED_MB_TIM = TIMx */</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#define COILS_NUMB                              16      </span><span class="comment">// minimum 16</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#define INPUT_REGS_NUMB                     100</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#define HOLD_REGS_NUMB                      100 </span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="comment">/* defines for modbus behaviour */</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#define MB_MAX_TIMEOUT                      5000    </span><span class="comment">// is ms</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#define RX_FIRST_PART_IND                   6           </span><span class="comment">// up to NUMB of bytes if its there, or up to first byte CRC</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment">// custom define for size of receive message </span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="comment">//--------------------------------------------------</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">//-------------DEFINES FOR STRUCTURE----------------</span></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="comment">/* defines for structure of modbus message */</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#define DEVICE_ID_SIZE          1                       </span><span class="comment">// size of (MbAddr)</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#define FUNC_CODE_SIZE          1                       </span><span class="comment">// size of (Func_Code)</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#define DATA_SIZE_SIZE          1                       </span><span class="comment">// size of (ByteCnt)</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#define ADDRESS_SIZE                2                       </span><span class="comment">// size of (Qnt)</span></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#define NUMBorVAL_SIZE          2                       </span><span class="comment">// size of (Qnt)</span></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#define DATA_MAX_SIZE           32                  </span><span class="comment">// maximum number of data: DWORD (NOT MESSAGE SIZE)</span></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#define CRC_SIZE                        2                   </span><span class="comment">// size of (MB_CRC) in bytes</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#define ERR_VALUES_START        0x80U               </span><span class="comment">// first number of (Except_Code)</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="comment">/* size of info */</span></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="preprocessor">#define INFO_SIZE                                                           DEVICE_ID_SIZE+FUNC_CODE_SIZE+DATA_SIZE_SIZE+ADDRESS_SIZE+NUMBorVAL_SIZE</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="comment">/* size of buffer: max size of whole message */</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="preprocessor">#define MSG_SIZE_MAX                                                        (DATA_MAX_SIZE+INFO_SIZE+CRC_SIZE) </span><span class="comment">// max possible size of message</span></div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="preprocessor">#define Message_Data(_msg_, _ind_)                              _msg_-&gt;DATA[_ind_].DATA</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="preprocessor">#define Message_Data_Byte(_msg_, _ind_, _byte_)     _msg_-&gt;DATA[_ind_]._byte_</span></div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="comment">// choose certain coil</span></div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="preprocessor">#define Set_Coils_Origin(_coils_, _source_)                 uint16_t *(_coils_) = (uint16_t *)(&amp;(_source_))</span></div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="preprocessor">#define Set_Hold_Regs_Origin(_hregs_, _source_)         uint16_t *(_hregs_) = (uint16_t *)(&amp;(_source_))</span></div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="comment">/* Structure for modbus messsage */</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="keyword">typedef</span> <span class="keyword">enum</span> <span class="comment">//RS_FunctonTypeDef</span></div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>{</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// reading</span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    MB_R_COILS =            0x01,</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    MB_R_DISC_IN =      0x02,</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    MB_R_IN_REGS =      0x03,</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    MB_R_HOLD_REGS =    0x04,</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="comment">// writting</span></div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    MB_W_COIL =             0x05,</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    MB_W_HOLD_REG =     0x06,</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    MB_W_COILS =            0x0F,</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    MB_W_HOLD_REGS =    0x10,</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>}RS_FunctonTypeDef;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span> </div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="foldopen" id="foldopen00071" data-start="{" data-end="};">
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="struct_r_s___msg_type_def.html">   71</a></span><span class="keyword">typedef</span> <span class="keyword">struct  </span><span class="comment">// RS_MsgTypeDef</span></div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>{</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    uint8_t                         MbAddr;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    RS_FunctonTypeDef   Func_Code;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    uint8_t                         Except_Code;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    uint16_t                        Addr;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    uint16_t                        Qnt;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    uint8_t                         ByteCnt;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    uint16_t                        DATA[DATA_MAX_SIZE];</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    uint16_t                        MB_CRC;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>}<a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a>;</div>
+</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="comment">//--------------------------------------------------</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span><span class="preprocessor">#define write16_to_8(_16bit_, _2_8bit_)</span></div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>uint8_t Modbus_Command_1(<a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *modbus_msg);</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>uint8_t Modbus_Command_3(<a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *modbus_msg);</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>uint8_t Modbus_Command_5(<a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *modbus_msg);</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>uint8_t Modbus_Command_15(<a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *modbus_msg);</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span> </div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span><span class="comment">/* set USART_TypeDef for choosen numb of usart */</span></div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span><span class="preprocessor">#if (MB_UART_NUMB == 1) </span></div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span><span class="preprocessor">    #define USED_MODBUS_UART                    USART1 </span></div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span><span class="preprocessor">    #define USE_USART1</span></div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span><span class="preprocessor">#elif (MB_UART_NUMB == 2)</span></div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span><span class="preprocessor">    #define USED_MODBUS_UART                    USART2 </span></div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span><span class="preprocessor">    #define USE_USART2</span></div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span><span class="preprocessor">#elif (MB_UART_NUMB == 3)</span></div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="preprocessor">    #define USED_MODBUS_UART                    USART3 </span></div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span><span class="preprocessor">    #define USE_USART3</span></div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span><span class="preprocessor">#elif (MB_UART_NUMB == 4)</span></div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span><span class="preprocessor">    #define USED_MODBUS_UART                    UART4 </span></div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span><span class="preprocessor">    #define USE_UART4</span></div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span><span class="preprocessor">#elif (MB_UART_NUMB == 5)</span></div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span><span class="preprocessor">    #define USED_MODBUS_UART                    UART5</span></div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span><span class="preprocessor">    #define USE_UART6</span></div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span><span class="preprocessor">#elif (MB_UART_NUMB == 6)</span></div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span><span class="preprocessor">    #define USED_MODBUS_UART                    USART6 </span></div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span><span class="preprocessor">    #define USE_USART6</span></div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span><span class="preprocessor">#endif</span></div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span> </div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span><span class="preprocessor">#if (MB_TIM_NUMB == 1) </span></div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM1 </span></div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span><span class="preprocessor">    #define USE_TIM1</span></div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span><span class="preprocessor">#elif (MB_TIM_NUMB == 2)</span></div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM2 </span></div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span><span class="preprocessor">    #define USE_TIM2</span></div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span><span class="preprocessor">#elif (MB_TIM_NUMB == 3)</span></div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM3 </span></div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span><span class="preprocessor">    #define USE_TIM3</span></div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span><span class="preprocessor">#elif (MB_TIM_NUMB == 4)</span></div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM4 </span></div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span><span class="preprocessor">    #define USE_TIM4</span></div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span><span class="preprocessor">#elif (MB_TIM_NUMB == 5)</span></div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM5</span></div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span><span class="preprocessor">    #define USE_TIM5</span></div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span><span class="preprocessor">#elif (MB_TIM_NUMB == 6)</span></div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM6 </span></div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span><span class="preprocessor">    #define USE_TIM6</span></div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span><span class="preprocessor">#elif (MB_TIM_NUMB == 7)</span></div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM7 </span></div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span><span class="preprocessor">    #define USE_TIM7</span></div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span><span class="preprocessor">#elif (MB_TIM_NUMB == 8)</span></div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM8</span></div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span><span class="preprocessor">    #define USE_TIM8 </span></div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><span class="preprocessor">#elif (MB_TIM_NUMB == 9)</span></div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM9 </span></div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span><span class="preprocessor">    #define USE_TIM9</span></div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="preprocessor">#elif (MB_TIM_NUMB == 10)</span></div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM10 </span></div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span><span class="preprocessor">    #define USE_TIM10</span></div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span><span class="preprocessor">#elif (MB_TIM_NUMB == 11)</span></div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM11</span></div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span><span class="preprocessor">    #define USE_TIM11</span></div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span><span class="preprocessor">#elif (MB_TIM_NUMB == 12)</span></div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM12 </span></div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span><span class="preprocessor">    #define USE_TIM12</span></div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span><span class="preprocessor">#elif (MB_TIM_NUMB == 13)</span></div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM13 </span></div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span><span class="preprocessor">    #define USE_TIM13</span></div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span><span class="preprocessor">#elif (MB_TIM_NUMB == 14)</span></div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span><span class="preprocessor">    #define USED_MODBUS_TIM                 TIM14 </span></div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span><span class="preprocessor">    #define USE_TIM14</span></div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span><span class="preprocessor">#endif</span></div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span><span class="preprocessor">#endif </span><span class="comment">//__MODBUS_H_</span></div>
+<div class="ttc" id="astruct_r_s___msg_type_def_html"><div class="ttname"><a href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a></div><div class="ttdef"><b>Definition</b> modbus.h:72</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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научка/code/pwm_motor_control/Modbus/html/rs__message_8h_source.html

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+<div class="header">
+  <div class="headertitle"><div class="title">rs_message.h</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef __UART_USER_H_</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define __UART_USER_H_</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#define HAL_UART_MODULE_ENABLED     </span><span class="comment">// need to uncomment these defines in stm32f4xx_hal_conf.h</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define HAL_USART_MODULE_ENABLED    </span><span class="comment">// also need to add hal_uart.c (source code)</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="comment">//#define USE_USART1</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment">//#define USE_USART2</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment">//#define USE_USART3</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment">//#define USE_UART4</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">//#define USE_UART5</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="comment">//#define USE_USART6</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment">/* note: used uart defines in modbus.h */</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;modbus.h&quot;</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &quot;stm32f4xx_hal.h&quot;</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#include &quot;crc_algs.h&quot;</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &quot;tim_general.h&quot;</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="comment">/* Clear message-uart buffer */</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="preprocessor">#define RS_Clear_Buff(_buff_)               for(int i=0; i&lt;MSG_SIZE_MAX;i++)    _buff_[i] = NULL</span></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="comment">/* Set/Reset flags */</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#define RS_Set_Free(_hRS_)                  _hRS_-&gt;fRS_Busy = 0</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#define RS_Set_Busy(_hRS_)                  _hRS_-&gt;fRS_Busy = 1</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#define RS_Set_RX_Flags(_hRS_)          _hRS_-&gt;fRX_Busy = 1; _hRS_-&gt;fRX_Done = 0; _hRS_-&gt;fRX_Half = 0</span></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#define RS_Set_TX_Flags(_hRS_)          _hRS_-&gt;fTX_Busy = 1; _hRS_-&gt;fTX_Done = 0</span></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#define RS_Reset_RX_Flags(_hRS_)        _hRS_-&gt;fRX_Busy = 0; _hRS_-&gt;fRX_Done = 0; _hRS_-&gt;fRX_Half = 0</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#define RS_Reset_TX_Flags(_hRS_)        _hRS_-&gt;fTX_Busy = 0; _hRS_-&gt;fTX_Done = 0</span></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="preprocessor">#define RS_Set_RX_End_Flag(_hRS_)       _hRS_-&gt;fRX_Done = 1</span></div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="preprocessor">#define RS_Set_TX_End_Flag(_hRS_)       _hRS_-&gt;fTX_Done = 1</span></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="preprocessor">#define RS_Set_RX_End(_hRS_)                RS_Reset_RX_Flags(_hRS_); RS_Set_RX_End_Flag(_hRS_)</span></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="preprocessor">#define RS_Set_TX_End(_hRS_)                RS_Reset_TX_Flags(_hRS_); RS_Set_TX_End_Flag(_hRS_)</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="comment">/* Clear all RS stuff */</span></div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="preprocessor">#define RS_Clear_All(_hRS_)                 RS_Clear_Buff(_hRS_-&gt;pBufferPtr);   RS_Reset_RX_Flags(_hRS_);   RS_Reset_TX_Flags(_hRS_);</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="comment">//#define MB_Is_RX_Busy(_hRS_)              ((_hRS_-&gt;huartx-&gt;gState&amp;HAL_USART_STATE_BUSY_RX) == HAL_USART_STATE_BUSY_RX)</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="comment">//#define MB_Is_TX_Busy(_hRS_)              ((_hRS_-&gt;huartx-&gt;gState&amp;HAL_USART_STATE_BUSY_RX) == HAL_USART_STATE_BUSY_TX)</span></div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="preprocessor">#define RS_Is_RX_Busy(_hRS_)                (_hRS_-&gt;fRX_Busy == 1)</span></div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="preprocessor">#define RS_Is_TX_Busy(_hRS_)                (_hRS_-&gt;fTX_Busy == 1)</span></div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="preprocessor">#define IS_IRQ_MASKED()           (__get_PRIMASK() != 0U)</span></div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="preprocessor">#define IS_IRQ_MODE()             (__get_IPSR() != 0U)</span></div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="preprocessor">#define IS_IRQ()                  (IS_IRQ_MODE() || IS_IRQ_MASKED())</span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="foldopen" id="foldopen00064" data-start="{" data-end="};">
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="struct_u_a_r_t___settings_type_def.html">   64</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><span class="comment">// struct with settings for custom function</span></div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>{</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    UART_HandleTypeDef *huartx;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    DMA_HandleTypeDef *hdma_uartx_rx;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    GPIO_TypeDef *GPIOx;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    uint16_t GPIO_PIN_RX;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    uint16_t GPIO_PIN_TX;</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    </div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    DMA_Stream_TypeDef *DMAChannel; <span class="comment">// DMAChannel = 0 if doesnt need</span></div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    uint32_t DMA_CHANNEL_X; <span class="comment">// DMAChannel = 0 if doesnt need</span></div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>}<a class="code hl_struct" href="struct_u_a_r_t___settings_type_def.html">UART_SettingsTypeDef</a>;</div>
+</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span><span class="comment">//------------------ENUMERATIONS--------------------</span></div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span><span class="comment">/* Enums for respond CMD about RS status*/</span></div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span><span class="keyword">typedef</span> <span class="keyword">enum</span>        <span class="comment">// RS_StatusTypeDef</span></div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>{</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="comment">/* IN-CODE STATUS (start from 0x01, and goes up)*/</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <span class="comment">/*0x01*/</span>    RS_OK = 0x01,</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <span class="comment">/*0x02*/</span>    RS_ERR, </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="comment">/*0x03*/</span>    RS_ABORTED, </div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <span class="comment">/*0x04*/</span>    RS_BUSY,</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="comment">/*0x06*/</span>    RS_COLLECT_MSG_ERR,</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="comment">/*0x07*/</span>    RS_PARSE_MSG_ERR,</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="comment">/*0x01*/</span>    RS_NOT_MINE_DATA,</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="comment">// reserved values</span></div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span><span class="comment">//  /*0x00*/    RS_UNKNOWN_ERR =                0x00, // reserved for case, if no one error founded (nothing changed response from zero)</span></div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>}RS_StatusTypeDef;</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="comment">/* Enums for RS Modes */</span></div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span><span class="keyword">typedef</span> <span class="keyword">enum</span>    <span class="comment">// RS_ModeTypeDef</span></div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>{</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    SLAVE_ALWAYS_WAIT =             0x01,       <span class="comment">// Slave mode with infinity waiting</span></div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    SLAVE_TIMEOUT_WAIT =            0x02,       <span class="comment">// Slave mode with waiting with timeout</span></div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span><span class="comment">//  MASTER =                                    0x03,       // Master mode</span></div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>}RS_ModeTypeDef;</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span><span class="comment">/* Enums for RS UART Modes */</span></div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span><span class="keyword">typedef</span> <span class="keyword">enum</span>    <span class="comment">// RS_ITModeTypeDef</span></div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>{</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    BLCK_MODE =         0x00,       <span class="comment">// Blocking mode</span></div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    IT_MODE =           0x01,       <span class="comment">// Interrupt mode</span></div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>}RS_ITModeTypeDef;</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span><span class="comment">/* Enums for Response modes */</span></div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span><span class="keyword">typedef</span> <span class="keyword">enum</span>    <span class="comment">// RS_RespModeTypeDef</span></div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>{</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    NO_RESPONSE =   0x00,       <span class="comment">// No response:                 only receive/transmit without any response</span></div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    SING_RESPONSE = 0x01,       <span class="comment">// Single response:         respond once after receive / wait for one respond after transmit</span></div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    CIRC_RESPONSE = 0x02,       <span class="comment">// Circular response:   </span></div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span><span class="comment">// IT_MODE:     Receive - permanent receive mode and after any received message send respond, Transmit - same as in Receive, but it start with Transmit</span></div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span><span class="comment">// BLCK_MODE: Transmit - transmit until response is taken, Receive - unused</span></div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>}RS_RespModeTypeDef;</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="comment">/* Enums for Abort modes */</span></div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span><span class="keyword">typedef</span> <span class="keyword">enum</span>    <span class="comment">// RS_AbortTypeDef</span></div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>{</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    ABORT_TX =          0x01,       <span class="comment">// Abort transmit</span></div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    ABORT_RX =          0x02,       <span class="comment">// Abort receive</span></div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    ABORT_RX_TX =       0x03,       <span class="comment">// Abort receive and transmit</span></div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    ABORT_RS =          0x04,       <span class="comment">// Abort uart and reset RS structure</span></div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>}RS_AbortTypeDef;</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span> </div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span><span class="comment">/* Enums for RX Size modes */</span></div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span><span class="keyword">typedef</span> <span class="keyword">enum</span>    <span class="comment">// RS_RXSizeTypeDef</span></div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>{</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    RS_RX_Size_Const =      0x01,       <span class="comment">// size of receiving message is constant</span></div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    RS_RX_Size_NotConst =   0x02,       <span class="comment">// size of receiving message isnt constant</span></div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>}RS_RXSizeTypeDef;</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span><span class="comment">//-----------STRUCTURE FOR HANDLE RS------------</span></div>
+<div class="foldopen" id="foldopen00146" data-start="{" data-end="};">
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="struct_r_s___handle_type_def.html">  146</a></span><span class="keyword">typedef</span> <span class="keyword">struct  </span><span class="comment">// RS_HandleTypeDef</span></div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>{       </div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="comment">/* MESSAGE */</span></div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    uint8_t                                     ID;                                     <span class="comment">// ID of RS &quot;channel&quot;</span></div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a>                       *pMessagePtr;                   <span class="comment">// pointer to message struct</span></div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    uint8_t                                     *pBufferPtr;                    <span class="comment">// pointer to message buffer</span></div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    uint32_t                                    RS_Message_Size;            <span class="comment">// size of whole message, not only data</span></div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    </div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="comment">/* HANDLERS and SETTINGS */</span></div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    UART_HandleTypeDef              *huartx;                            <span class="comment">// handler for used uart</span></div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    TIM_HandleTypeDef               *htimx;                             <span class="comment">// handler for used tim</span></div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    RS_ModeTypeDef                      sRS_Mode;                           <span class="comment">// slave or master @ref RS_ModeTypeDef</span></div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    RS_ITModeTypeDef                    sRS_IT_Mode;                    <span class="comment">// 1 - IT mode,     0 - Blocking mode </span></div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    uint32_t                                    sRS_Timeout;                    <span class="comment">// setting: timeout in ms</span></div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    RS_RXSizeTypeDef                    sRS_RX_Size_Mode;           <span class="comment">// setting: 1 - not const, 0 - const </span></div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    </div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="comment">/* FLAGS */</span>     </div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="comment">// These flags for controling receive/transmit</span></div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <span class="keywordtype">unsigned</span>                                    fRX_Half:1;                     <span class="comment">// 0 - receiving msg before ByteCnt,    0 - receiving msg after ByteCnt</span></div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    </div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <span class="keywordtype">unsigned</span>                                    fRS_Busy:1;                     <span class="comment">// 1 - RS is busy, 0 - RS isnt busy     </span></div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    <span class="keywordtype">unsigned</span>                                    fRX_Busy:1;                     <span class="comment">// 1 - receiving is active,     0 - receiving isnt active</span></div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <span class="keywordtype">unsigned</span>                                    fTX_Busy:1;                     <span class="comment">// 1 - transmiting is active, 0 - transmiting isnt active               </span></div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="keywordtype">unsigned</span>                                    fRX_Done:1;                     <span class="comment">// 1 - receiving is done, 0 - receiving isnt done   </span></div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <span class="keywordtype">unsigned</span>                                    fTX_Done:1;                     <span class="comment">// 1 - transmiting is done, 0 - transmiting isnt done   </span></div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>        </div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    <span class="comment">// setted by user</span></div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <span class="keywordtype">unsigned</span>                                    fMessageHandled:1;      <span class="comment">// 1 - RS command is handled, 0 - RS command isnt handled yet</span></div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="keywordtype">unsigned</span>                                    fEchoResponse:1;            <span class="comment">// 0 - receiving msg before ByteCnt,    0 - receiving msg after ByteCnt</span></div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <span class="keywordtype">unsigned</span>                                    fDeferredResponse:1;    <span class="comment">// 0 - receiving msg before ByteCnt,    0 - receiving msg after ByteCnt</span></div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>    </div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="comment">/* RS STATUS */</span></div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    RS_StatusTypeDef                    RS_STATUS;                          <span class="comment">// RS status</span></div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    RS_FunctonTypeDef               RS_RESPONSE;                        <span class="comment">// RS response</span></div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>}<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a>;</div>
+</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span> </div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span> </div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span> </div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span> </div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span> </div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span><span class="comment">//----------------FUNCTIONS FOR PROCESSING MESSAGE-------------------</span></div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span><span class="comment">/*--------------------Defined by users purposes--------------------*/</span></div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>RS_StatusTypeDef RS_Response(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, <a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *RS_msg);</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>RS_StatusTypeDef Collect_Message(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, <a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *RS_msg, uint8_t *msg_uart_buff);</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>RS_StatusTypeDef Parse_Message(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, <a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *RS_msg, uint8_t *msg_uart_buff);</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span> </div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>RS_StatusTypeDef RS_Define_Size_of_RX_Message(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, uint32_t *rx_data_size);</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span> </div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span> </div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span><span class="comment">/* MORE USER FUNCTION BEGIN*/</span></div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span><span class="comment">/* MORE USER FUNCTION END*/</span></div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span> </div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span><span class="comment">//-------------------------GENERAL FUNCTIONS-------------------------</span></div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span><span class="comment">/*-----------------Should be called from main code-----------------*/</span></div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>RS_StatusTypeDef RS_Receive_IT(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, <a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *RS_msg);</div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span> </div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>RS_StatusTypeDef RS_Transmit_IT(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, <a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *RS_msg);</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>RS_StatusTypeDef RS_Init(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, <a class="code hl_struct" href="struct_u_a_r_t___settings_type_def.html">UART_SettingsTypeDef</a> *suart, <a class="code hl_struct" href="struct_t_i_m___settings_type_def.html">TIM_SettingsTypeDef</a> *stim, uint8_t *pRS_BufferPtr);</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span> </div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>RS_StatusTypeDef RS_Abort(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, RS_AbortTypeDef AbortMode);</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span> </div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span><span class="comment">//-------------------------SUPPORT FUNCTIONS-------------------------</span></div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span><span class="comment">/*------------------Called from General functions------------------*/</span></div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>RS_StatusTypeDef RS_Handle_Receive_Start(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, <a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *RS_msg);</div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>RS_StatusTypeDef RS_Handle_Transmit_Start(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS, <a class="code hl_struct" href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a> *RS_msg);</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span><span class="comment">/* UART RX Callback: define behaviour after receiving message */</span></div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>RS_StatusTypeDef RS_UART_RxCpltCallback(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS);</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span><span class="comment">/* UART RX Callback: define behaviour after transmiting message */</span></div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>RS_StatusTypeDef RS_UART_TxCpltCallback(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS);</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span><span class="comment">/* Handler for UART */</span></div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span><span class="keywordtype">void</span> RS_UART_Handler(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS);</div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span><span class="comment">/* Handler for TIM */</span></div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span><span class="keywordtype">void</span> RS_TIM_Handler(<a class="code hl_struct" href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a> *hRS);</div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span> </div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span> </div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span> </div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span> </div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span> </div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span> </div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>HAL_StatusTypeDef RS_UART_Init(<a class="code hl_struct" href="struct_u_a_r_t___settings_type_def.html">UART_SettingsTypeDef</a> *suart);</div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span><span class="keywordtype">void</span> UART_GPIO_Init(GPIO_TypeDef *GPIOx, uint16_t GPIO_PIN_RX, uint16_t GPIO_PIN_TX);</div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span><span class="keywordtype">void</span> UART_DMA_Init(UART_HandleTypeDef *huart, DMA_HandleTypeDef *hdma_rx, DMA_Stream_TypeDef *DMAChannel, uint32_t DMA_CHANNEL_X);</div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span><span class="keywordtype">void</span> User_UART_MspInit(UART_HandleTypeDef *huart);</div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span> </div>
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>HAL_StatusTypeDef User_UART_Check(<a class="code hl_struct" href="struct_u_a_r_t___settings_type_def.html">UART_SettingsTypeDef</a> *suart);</div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span> </div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span><span class="preprocessor">#define __USER_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__)             \</span></div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span><span class="preprocessor">                        do{                                                         \</span></div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span><span class="preprocessor">                              (__HANDLE__)-&gt;__PPP_DMA_FIELD__ = (__DMA_HANDLE__); \</span></div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span><span class="preprocessor">                              (__DMA_HANDLE__)-&gt;Parent = (__HANDLE__);} while(0U)</span></div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>                                                </div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span> </div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>                        </div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span> </div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span><span class="preprocessor">#endif </span><span class="comment">// __UART_USER_H_</span></div>
+<div class="ttc" id="astruct_r_s___handle_type_def_html"><div class="ttname"><a href="struct_r_s___handle_type_def.html">RS_HandleTypeDef</a></div><div class="ttdoc">Handle for RS communication.</div><div class="ttdef"><b>Definition</b> rs_message.h:147</div></div>
+<div class="ttc" id="astruct_r_s___msg_type_def_html"><div class="ttname"><a href="struct_r_s___msg_type_def.html">RS_MsgTypeDef</a></div><div class="ttdef"><b>Definition</b> modbus.h:72</div></div>
+<div class="ttc" id="astruct_t_i_m___settings_type_def_html"><div class="ttname"><a href="struct_t_i_m___settings_type_def.html">TIM_SettingsTypeDef</a></div><div class="ttdef"><b>Definition</b> tim_general.h:43</div></div>
+<div class="ttc" id="astruct_u_a_r_t___settings_type_def_html"><div class="ttname"><a href="struct_u_a_r_t___settings_type_def.html">UART_SettingsTypeDef</a></div><div class="ttdef"><b>Definition</b> rs_message.h:65</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.10.0
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