update

iflytop_canbus_protocol.hpp

@@ -6,6 +6,20 @@
 extern "C" {
 #pragma pack(1)
 
+/**
+ * @brief 消息格式 12bit from,1bit emergency
+ *
+ * [1] [4bit]  [8bit] [8bit]  [4bit/4bit]
+ *          ,   from    to    frameNum/frameId
+ */
+
+typedef struct {
+  uint8_t pad;
+  uint8_t from;
+  uint8_t to;
+  uint8_t frameNumAndFrameId;
+} zcanid_t;
+
 typedef struct {
   uint8_t  ptype;
   uint8_t  index;
@@ -20,7 +34,6 @@ typedef enum {
   kreceipt,
   kerror_receipt,
   kreport,
-  kheat,  // 心跳
 } packet_type_t;
 
 typedef enum {
@@ -41,6 +54,7 @@ typedef enum {
 
 typedef enum {
   kerr_noerror = 0,
+  kerr_overtime = 1,
 
   // 驱动器错误
   kerr_motorReset       = 100,
@@ -53,6 +67,28 @@ typedef enum {
 
 } ErrorCode_t;
 
+
+static const char *ErrorCodeToString(uint32_t code) {
+  switch (code) {
+    case kerr_noerror:
+      return "no error";
+    case kerr_motorReset:
+      return "motor reset";
+    case kerr_motorUnkownError:
+      return "motor unkown error";
+    case kerr_AirBlowerError:
+      return "air blower error";
+    case kerr_HeaterError:
+      return "heater error";
+    case kerr_BlowerError:
+      return "blower error";
+    case kerr_ProportionalValveError:
+      return "proportional valve error";
+    default:
+      return "unkown error";
+  }
+}
+
 typedef enum {
 
   /***********************************************************************************************************************