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50 lines
1.4 KiB
50 lines
1.4 KiB
#pragma once
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#include "sdk/hal/zhal.hpp"
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namespace iflytop {
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namespace zcr {
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typedef struct {
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uint16_t packetindex;
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uint16_t cmdid;
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uint8_t subcmdid;
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uint8_t packetType;
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uint8_t data[];
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} Cmdheader_t;
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typedef enum {
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kpt_cmd = 0,
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kpt_ack = 1,
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kpt_error_ack = 2,
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kpt_status_report = 3,
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} PacketType_t;
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typedef enum {
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kcmd_ping = 0,
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kcmd_read_io = 1,
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kcmd_set_io = 2,
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kcmd_readadc_raw = 3,
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kcmd_m211887_operation = 1000, // 维萨拉压力传感器
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kcmd_read_presure_sensor = 1001,
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kcmd_triple_warning_light_ctl = 1002,
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kcmd_high_power_electrical_ctl = 1003,
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kcmd_peristaltic_pump_ctl = 1004,
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kcmd_read_huacheng_pressure_sensor = 1005,
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kcmd_set_proportional_valve = 1006, // 设置比例阀 {4:valveId,4:valveValue}
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kcmd_air_compressor_ch_select = 1007, // 空压机通道选择 {4:val}
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kcmd_air_compressor_valve1_set = 1008, // 空压机阀门1控制 {4:val}
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kcmd_air_compressor_valve2_set = 1009, // 空压机阀门2控制 {4:val}
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kcmd_air_compressor_read_pressure = 1010, // 空压机阀读取压力 {}{4:val}
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kcmd_proportional_read_state = 1011,
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} CmdID_t;
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} // namespace zcr
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} // namespace iflytop
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#define IS_CMD(cmdheader, cmd, subcmd) ((cmdheader->cmdid == cmd) && (cmdheader->subcmdid == subcmd))
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#define CMD_GET_PARAM(cmdheader, index) (((int32_t*)cmdheader->data)[index])
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/**
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* @brief
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*/
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