disinfection_iflytop_can_protocol/iflytop_canbus_protocol.hpp

#pragma once
#include <stdint.h>

#define PROTOCOL_VERSION 3
#define HEART_OVERTIME   (30 * 1000)

#pragma pack(1)

/**
 * @brief 消息格式 12bit from,1bit emergency
 * H                                    L
 * [1] [4bit]  [8bit] [8bit]  [4bit/4bit]
 *          ,   from    to    frameNum/frameId
 */

// 数值越大优先级越低
typedef enum {
  kpriority_emergency_report = 7,
  kpriority_cmd              = 8,
  kpriority_receipt          = 9,
  kpriority_report           = 10,
} priority_t;

typedef struct {
  uint8_t frameNumAndFrameId;
  uint8_t to;
  uint8_t from;
  uint8_t pad;
} zcanid_t;

typedef struct {
  uint8_t  ptype;
  uint8_t  index;
  uint16_t function_id;
  uint8_t  params[];
} zcanbus_packet_t;

#pragma pack()

typedef enum {
  kcmd,
  kreceipt,
  kerror_receipt,
  kreport,
} packet_type_t;

typedef enum {
  kMainBoard                       = 0,  // 主机
  kBoardType_LiquidCtrl            = 1,  // 液路板
  kBoardType_PowerControl          = 2,  // 电源板
  kBoardType_PowerControlMiniBoard = 3,  // 电源控制Mini板，用于拉杆箱箱消毒机
  kBoardType_ExtBallValveCtrl      = 4,  // 外部球阀控制板
  kBoardType_H2O2Sensor            = 5,  // H2O2传感器板
} BoardType_t;

typedef enum {
  kFixBoardId_MainBoard             = 0,    // 主机
  kFixBoardId_LiquidCtrl            = 1,    // 液路板
  kFixBoardId_PowerControl          = 2,    // 电源板
  kFixBoardId_PowerControlMiniBoard = 3,    // 电源控制Mini板，用于拉杆箱箱消毒机
  kFixBoardId_ExtBallValveCtrl      = 4,    // 外部球阀控制板
  kFixBoardId_H2O2SensorStart       = 100,  // H2O2传感器板
} FixBoardId_t;
static inline const char *BoardTypeToString(uint32_t type) {
  switch (type) {
    case kMainBoard:
      return "MainBoard";
    case kBoardType_LiquidCtrl:
      return "LiquidCtrl";
    case kBoardType_PowerControl:
      return "PowerControl";
    case kBoardType_PowerControlMiniBoard:
      return "PowerControlMiniBoard";
    case kBoardType_ExtBallValveCtrl:
      return "ExtBallValveCtrl";
    case kBoardType_H2O2Sensor:
      return "H2O2Sensor";
    default:
      return "unkown";
  }
}

typedef enum {
  klarge_space_disinfection_machine = 1,  // 大空间消毒机
  ksmall_space_disinfection_machine = 2,  // 小空间消毒机
  kpipe_disinfection_machine        = 3,  // 管道式消毒机
  kdraw_bar_disinfection_box        = 4,  // 手持拉杆箱消毒机
} ProjectID_t;

static inline const char *ProjectIDToString(uint32_t id) {
  switch (id) {
    case klarge_space_disinfection_machine:
      return "large_space_disinfection_machine";
    case ksmall_space_disinfection_machine:
      return "small_space_disinfection_machine";
    case kpipe_disinfection_machine:
      return "pipe_disinfection_machine";
    case kdraw_bar_disinfection_box:
      return "draw_bar_disinfection_box";
    default:
      return "unkown";
  }
}

typedef enum {
  kerr_noerror           = 0,
  kerr_overtime          = 1,
  kerr_invalid_param     = 2,
  kerr_invalid_param_num = 3,
  kerr_subdevice_offline = 4,

  // 驱动器错误
  kerr_motor_reset_error        = 100,
  kerr_motor_subdevice_offline  = 101,
  kerr_motor_driver_error       = 102,
  kerr_motor_undervoltage_error = 103,
  kerr_motor_unkown_error       = 104,

  kerr_AirBlowerError         = 200,  // 空压机异常
  kerr_HeaterError            = 201,  // 加热片异常
  kerr_BlowerError            = 202,  // 鼓风机异常
  kerr_ProportionalValveError = 203,  // 气密性测试专用空压机异常

} ErrorCode_t;

static inline const char *ErrorCodeToString(uint32_t code) {
  switch (code) {
    case kerr_noerror:
      return "noerror";
    case kerr_overtime:
      return "overtime";
    case kerr_invalid_param:
      return "invalid_param";
    case kerr_invalid_param_num:
      return "invalid_param_num";
    case kerr_subdevice_offline:
      return "subdevice_offline";
    case kerr_motor_reset_error:
      return "motor_reset_error";
    case kerr_motor_subdevice_offline:
      return "motor_subdevice_offline";
    case kerr_motor_driver_error:
      return "motor_driver_error";
    case kerr_motor_undervoltage_error:
      return "motor_undervoltage_error";
    case kerr_AirBlowerError:
      return "AirBlowerError";
    case kerr_HeaterError:
      return "HeaterError";
    case kerr_BlowerError:
      return "BlowerError";
    case kerr_ProportionalValveError:
      return "ProportionalValveError";
    default:
      return "unkown";
  }
}
typedef enum {

  /***********************************************************************************************************************
   *                                                    板子基本操作                                                     *
   ***********************************************************************************************************************/
  kcmd_read_board_info    = 1,   // cmd:no,                 ack:ack_read_board_info_data_t
  kcmd_force_report       = 2,   // cmd:no,                 ack:none
  kcmd_read_sysinfo       = 3,   // cmd:no,                 ack:ack_sysinfo_t
  kcmd_read_taskinfo      = 4,   // cmd:taskoff,            ack:ask_taskinfo_t
  kcmd_heart_ping         = 5,   // cmd:pingindex,            ack:ask_taskinfo_t
  kcmd_clear_reset_flag   = 6,   // cmd:taskoff,            ack:ask_taskinfo_t
  kreport_heatpacket_pong = 50,  // cmd:no                  ack:no                      report:heatpacket_t
  kreport_exception_error = 51,  // report:error_code,subid

  /***********************************************************************************************************************
   *                                                     蠕动泵控制                                                      *
   ***********************************************************************************************************************/
  /**
   * 旋转(id,速度)
   * 停止
   *
   * 设置TMC参数
   * 读取TMC参数
   * 设置ihold,irun,idelay
   *
   */
  kcmd_pump_rotate                = 100,  // cmd: index rpm                 ack:none
  kcmd_pump_stop                  = 101,  // cmd: index rpm                 ack:none
  kcmd_pump_set_ihold_irun_idelay = 102,  // cmd: index irun,ihold,idelay   ack:none
  kcmd_pump_set_acc               = 104,  // cmd: index acc                 ack:none
  kcmd_pump_ping                  = 105,  // cmd: index,                    ack:none

  kcmd_pump_set_subic_reg = 110,  // cmd: index,val   ack:none
  kcmd_pump_get_subic_reg = 111,  // cmd: index,      ack:val

  /***********************************************************************************************************************
   *                                                     喷液MINI真空泵                                                   *
   ***********************************************************************************************************************/
  /**
   * @brief Spray liquid mini air compressor
   *  打开/关闭
   */
  kcmd_sl_mini_ac_ctrl = 200,  // cmd: power(0-100)

  /***********************************************************************************************************************
   *                                                     气密性测试MINI真空泵                                              *
   ***********************************************************************************************************************/
  /**
   * @brief air Tightness Test AirCompressor
   *  打开/关闭
   *  电流上报
   */
  kcmd_atta_mini_air_compressor_ctrl = 300,  // cmd: power(0-100)

  /***********************************************************************************************************************
   *                                                   压力传感器数据上报                                                  *
   ***********************************************************************************************************************/
  kcmd_pressure_sensor_bus_read_data            = 400,  // cmd:subid      ack:pressure(0.1pa)
  kcmd_pressure_sensor_bus_set_report_period_ms = 401,  // cmd:subid,period
  kreport_pressure_data                         = 450,  // report:subid pressure(0.1pa)

#if 0

  /***********************************************************************************************************************
   *                                                   报警指示灯控制                                                    *
   ***********************************************************************************************************************/
  kcmd_triple_warning_light_ctl = 200,  // cmd: r,g,b,warning



  /***********************************************************************************************************************
   *                                                 H2O2传感器数值上报                                                  *
   ***********************************************************************************************************************/
  kreport_h2o2_data = 400,  // report:subid h2o2_sensor_data

  /***********************************************************************************************************************
   *                                                     加热片控制                                                      *
   ***********************************************************************************************************************/
  /**
   * @brief 加热片控制
   *  打开/关闭
   *  安全继电器控制
   *  是否支持读取温度
   *
   *  电流上报
   *  温度上报
   */
  kcmd_heater_ctrl                = 500,  // cmd: power(0-100)
  kcmd_heater_ctrl_safe_valve     = 501,  // cmd: valve_state
  kreport_heater_temperature_data = 550,  // report:temperature(0.01)
  kreport_heater_electric_current = 551,  // report:electric_current(ma)

  /***********************************************************************************************************************
   *                                                      风机控制                                                       *
   ***********************************************************************************************************************/
  /**
   * @brief 风机控制
   *  打开/关闭
   *  安全继电器控制
   *  电流上报
   */

  kcmd_blower_ctrl                = 600,  // cmd: power(0-100)
  kcmd_blower_ctrl_safe_valve     = 601,  // cmd: valve_state
  kreport_blower_electric_current = 651,  // report:electric_current(ma)

  /***********************************************************************************************************************
   *                                                     空压机控制                                                      *
   ***********************************************************************************************************************/
  /**
   * @brief 空压机 airCompressor
   *  打开/关闭
   *  安全继电器控制
   *  电流上报
   *  调整风速
   */

  kcmd_airCompressor_ctrl                = 700,  // cmd: power(0-100)
  kcmd_airCompressor_ctrl_safe_valve     = 701,  // cmd: valve_state
  kreport_airCompressor_electric_current = 751,  // report:electric_current(ma)

  /***********************************************************************************************************************
   *                                                     电磁阀控制                                                      *
   ***********************************************************************************************************************/

  /**
   * @brief 电磁阀控制
   *  打开/关闭
   */
  kcmd_electromagnetic_valve_ctrl = 900,  // cmd: valve_state

  /***********************************************************************************************************************
   *                                                     球阀控制                                                         *
   ***********************************************************************************************************************/

  /**
   * @brief 电磁阀控制
   *  打开/关闭
   */
  kcmd_ball_valve_ctrl = 1000,  // cmd: valve_state

  /***********************************************************************************************************************
   *                                                     比例阀控制                                                       *
   ***********************************************************************************************************************/

  /**
   * @brief 比例阀控制
   *  打开/关闭
   *  比例阀当前比例上报
   */

  kcmd_proportional_valve_ctrl     = 1100,  // cmd: subid valve_state(0->100)
  kreport_proportional_valve_value = 1150,  // cmd: subid valve_state(0->100)

  /***********************************************************************************************************************
   *                                                 水浸传感器状态上报                                                  *
   ***********************************************************************************************************************/

  kreport_evaporation_bin_water_sensor = 1200,  // report:state //蒸发仓水浸
  kreport_device_bottom_water_sensor   = 1201,  // report:state //设备底部水浸

#endif

} cmd_t;

#pragma pack(1)

/***********************************************************************************************************************
 *                                                         ACK                                                         *
 ***********************************************************************************************************************/
typedef struct {
  uint16_t boardType;
  uint16_t projectId;
  uint16_t protcol_version;
  uint16_t software_version;
  uint16_t hardware_version;
} ack_read_board_info_data_t;

typedef struct {
  uint8_t  taskName[8];
  uint16_t stackRemindSize;
  uint16_t priority;
  uint8_t  state;
} ask_taskinfo_t;

typedef struct {
  uint32_t total_heap_size;
  uint32_t free_heap_size;
  uint16_t taskNum;
  uint16_t sysHasRun;
} ack_sysinfo_t;

/***********************************************************************************************************************
 *                                                       Report                                                        *
 ***********************************************************************************************************************/

typedef struct {
  uint16_t heartIndex;
  uint8_t  boardType;
  uint8_t  flag;  // 0:reset_flag
} report_heatpacket_data_t;

typedef struct {
  uint16_t subid;
  uint32_t ecode;
} report_exeception_data_t;

typedef struct {
  uint8_t sensorDataNum;
  struct {
    uint8_t subid;
    int16_t pressureVal;
  } data[];
} report_pressure_data_t;

typedef struct {
  uint16_t subid;
  uint16_t h2o2;        // ppm
  uint16_t humid;       // %RH * 100
  uint16_t temp;        // °C * 100
  uint16_t saturation;  // %RS * 100
} report_h2o2_data_t;

typedef struct {
  uint16_t temperature;  // 0.01
} report_heater_temperature_data_t;

typedef struct {
  uint16_t electric_current;  // ma
} report_heater_electric_current_data_t;

typedef struct {
  uint16_t electric_current;  // ma
} report_blower_electric_current_data_t;

typedef struct {
  uint16_t electric_current;  // ma
} report_airCompressor_electric_current_data_t;

typedef struct {
  uint16_t subid;        // 0->100
  uint16_t valve_state;  // 0->100
} report_proportional_valve_value_data_t;

typedef struct {
  uint16_t state;
} report_evaporation_bin_water_sensor_data_t;

typedef struct {
  uint16_t state;
} report_device_bottom_water_sensor_data_t;

#pragma pack()