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#pragma once
#include <stdint.h>
namespace iflytop {namespace zcr {#pragma pack(push, 1)
typedef struct { uint16_t packetindex; uint16_t cmdMainId; // cmd main id
uint8_t cmdSubId; // cmd sub id
uint8_t packetType; //
uint16_t subModuleid; // module id
uint8_t data[];} zcr_cmd_header_t;#pragma pack(pop)
typedef enum { kptv2_cmd = 0, kptv2_ack = 1, kptv2_error_ack = 2, kptv2_event = 3,} zcan_cmd_packet_type_t;
} // namespace zcr
} // namespace iflytop
#define CMD_SUB_ID(cmdid) (cmdid & 0xff)
#define MODULE_CMDID(cmdid) (cmdid >> 8)
#define STEP_MOTOR_ID_OFF 100
#define XY_MOTOR_ID_OFF 200
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