Loop invariant for a division algorithm

Question

I'm having problems trying to understand the concept of loop invariants.

I have the following code, where M and N are predefined constants.

a = 0
b = M
c = 1
while M - c * N >= 0:
  a = c
  c = c + 1
  b = M - a * N
print(a, b)

I have figured out this code is actually a division algorithm, where in the end prints out a as the quotient of M/N and b as the remainder. But it's unclear to me what the invariant here is. Can I say c-a is the invariant since c-a=1 is always true before and after every iteration? How could I prove that in a mathematical perspective?