From a25b09477b0f81b95758a51603613aa0a79803a1 Mon Sep 17 00:00:00 2001
From: Jonathan Roth <j@o462.fr>
Date: Tue, 10 Mar 2026 17:31:59 +0100
Subject: [PATCH] dev

---
 includes/rtu.h |  3 ++-
 src/rtu.c      | 69 ++++++++++++++++++++++++++++++++------------------
 src/setup.c    |  2 +-
 3 files changed, 47 insertions(+), 27 deletions(-)

diff --git a/includes/rtu.h b/includes/rtu.h
index a6be8f2..4c3d726 100644
--- a/includes/rtu.h
+++ b/includes/rtu.h
@@ -8,12 +8,13 @@
 //  Configuration Modbus RTU
 // ─────────────────────────────────────────────
 
-#define RTU_SLAVE_ADDR          0xB7
+#define RTU_SLAVE_ADDR          183
 #define RTU_FC03                0x03
 #define RTU_FC06                0x06
 #define RTU_FC16                0x10
 
 #define RTU_HR0_ADDR            0x1700      // Position QEI
+#define RTU_HR1_ADDR            0x1701      // Position cible ARM (micropas)
 
 // ─────────────────────────────────────────────
 //  Timer2 — timeout inter-caractère 3.5×
diff --git a/src/rtu.c b/src/rtu.c
index d1f3b73..96420d9 100644
--- a/src/rtu.c
+++ b/src/rtu.c
@@ -43,29 +43,30 @@ static void RTU_SendByte(uint8_t byte)
 }
 
 // ─────────────────────────────────────────────
-//  Réponse FC03 — 1 registre
+//  Réponse FC03 — N registres (max RTU_BUF_SIZE/2)
 // ─────────────────────────────────────────────
 
-static void RTU_SendFC03(uint16_t value)
+static void RTU_SendFC03(uint16_t *values, uint8_t count)
 {
-    uint8_t  resp[5];
+    uint8_t  buf[RTU_BUF_SIZE];
+    uint8_t  byte_count = count * 2;
     uint16_t crc;
+    uint8_t  i, len;
 
-    resp[0] = RTU_SLAVE_ADDR;
-    resp[1] = RTU_FC03;
-    resp[2] = 0x02;             // byte count = 2
-    resp[3] = (value >> 8);     // high byte
-    resp[4] = (value & 0xFF);   // low byte
+    buf[0] = RTU_SLAVE_ADDR;
+    buf[1] = RTU_FC03;
+    buf[2] = byte_count;
+    for (i = 0; i < count; i++) {
+        buf[3 + i * 2]     = values[i] >> 8;
+        buf[3 + i * 2 + 1] = values[i] & 0xFF;
+    }
+    len = 3 + byte_count;
+    crc = RTU_CRC16(buf, len);
 
-    crc = RTU_CRC16(resp, 5);
-
-    RTU_SendByte(resp[0]);
-    RTU_SendByte(resp[1]);
-    RTU_SendByte(resp[2]);
-    RTU_SendByte(resp[3]);
-    RTU_SendByte(resp[4]);
-    RTU_SendByte(crc & 0xFF);   // CRC low
-    RTU_SendByte(crc >> 8);     // CRC high
+    for (i = 0; i < len; i++)
+        RTU_SendByte(buf[i]);
+    RTU_SendByte(crc & 0xFF);
+    RTU_SendByte(crc >> 8);
 }
 
 // ─────────────────────────────────────────────
@@ -141,7 +142,7 @@ void RTU_Init(void)
     PIE1bits.TMR2IE  = 1;
 
     // UART RX interrupt
-    IPR1bits.RCIP = 0;    // RX basse priorité
+    IPR1bits.RCIP    = 0;           // basse priorité
     PIE1bits.RCIE    = 1;
 }
 
@@ -225,11 +226,26 @@ void RTU_Task(void)
     switch (rx_buf[1]) {
 
         // ── FC03 — Read Holding Registers ────────
-        case RTU_FC03:
-            if (reg_addr != RTU_HR0_ADDR || reg_count != 1)
+        case RTU_FC03: {
+            uint16_t resp[2];
+            uint8_t  n = 0;
+            uint8_t  i;
+
+            if (reg_count == 0 || reg_count > 2)
                 goto done;
-            RTU_SendFC03(QEI_ReadPosition());
+            if (reg_addr < RTU_HR0_ADDR || reg_addr + reg_count - 1 > RTU_HR1_ADDR)
+                goto done;
+
+            for (i = 0; i < reg_count; i++) {
+                switch (reg_addr + i) {
+                    case RTU_HR0_ADDR: resp[n++] = QEI_ReadPosition();    break;
+                    case RTU_HR1_ADDR: resp[n++] = arm_target_position;   break;
+                    default: goto done;
+                }
+            }
+            RTU_SendFC03(resp, n);
             break;
+        }
 
         // ── FC06 — Write Single Register ─────────
         case RTU_FC06:
@@ -243,6 +259,8 @@ void RTU_Task(void)
                     ARM_GoToZero();
             } else if (reg_addr == SPOOL_REG_FREQ)
                 SPOOL_SetFreq(value);
+            else if (reg_addr == SPOOL_REG_RATIO)
+                ARM_SetRatio(value);
             else if (reg_addr == ARM_REG_GEAR)
                 ARM_SetGear(value);
             else if (reg_addr == ARM_REG_OFFSET)
@@ -261,8 +279,8 @@ void RTU_Task(void)
             uint8_t byte_count = rx_buf[6];
             uint8_t i;
 
-            // On supporte 0x0800~0x0805, registres contigus
-            if (reg_addr < REG_CTRL || reg_addr + reg_count - 1 > ARM_REG_RIGHT)
+            // On supporte 0x0800~0x0806, registres contigus
+            if (reg_addr < REG_CTRL || reg_addr + reg_count - 1 > SPOOL_REG_RATIO)
                 goto done;
             if (byte_count != reg_count * 2)
                 goto done;
@@ -282,8 +300,9 @@ void RTU_Task(void)
                         if (value & CTRL_ARM_GO_TO_ZERO)
                             ARM_GoToZero();
                         break;
-                    case SPOOL_REG_FREQ:  SPOOL_SetFreq(value);   break;
-                    case ARM_REG_GEAR:    ARM_SetGear(value);      break;
+                    case SPOOL_REG_FREQ:   SPOOL_SetFreq(value);   break;
+                    case SPOOL_REG_RATIO:  ARM_SetRatio(value);   break;
+                    case ARM_REG_GEAR:     ARM_SetGear(value);      break;
                     case ARM_REG_OFFSET:  ARM_SetOffset(value);    break;
                     case ARM_REG_LEFT:    ARM_SetLeft(value);      break;
                     case ARM_REG_RIGHT:   ARM_SetRight(value);     break;
diff --git a/src/setup.c b/src/setup.c
index d8f2183..df7891f 100644
--- a/src/setup.c
+++ b/src/setup.c
@@ -25,8 +25,8 @@ void setup(void) {
     INTCON3 = 0b11011000; // INT1 interrupt high prio, enabled , wired on DialCLK // INT2 interrupt high prio, enabled , wired on DialCLK
 
 	RCONbits.IPEN = 1;
-	INTCONbits.GIEH = 1;  // haute priorité
 	INTCONbits.GIEL = 1;  // basse priorité
+	INTCONbits.GIEH = 1;  // haute priorité
 
 	__delay_ms(3000);