#pragma once #include #define ZCANCMD_PACKET_MAX_LEN 64 namespace iflytop { typedef enum { khbot_module = 1, // hbot模块 ktemperature_ctrl_module = 3, // 温度控制 kfan_ctrl_module = 5, // 风扇控制 kcode_scaner = 6, // 扫码器 kpipette_ctrl_module = 7, // 移液体枪控制 ka8000_optical_module = 8, // a8000光学模组 ktmc_step_motor = 10, // 步进电机 kmini_servo_motor_module = 11, // 舵机 kboard = 12, // 板子 ka8000_idcard_reader = 13, // id卡读卡器 ka8000_plate_code_scaner = 14, // 反应板条扫码器 } module_type_t; namespace zcr { #pragma pack(push, 1) typedef struct { uint8_t packetType; uint16_t cmdid; uint8_t moduleId; uint8_t index; uint8_t datalen; uint8_t data[]; /* int8_t checksum;*/ } zcr_cmd_header_t; #pragma pack(pop) typedef enum { kptv2_cmd = 0xA0, kptv2_ack = 0xA1, kptv2_error_ack = 0xA2, kptv2_event = 0xA3, } zcan_cmd_packet_type_t; static inline bool zcr_cmd_checkpacket(const zcr_cmd_header_t* header, int len) { if (len < (int)sizeof(zcr_cmd_header_t)) return false; if ((int)(header->datalen + sizeof(zcr_cmd_header_t) + 1) != len) return false; uint8_t checksum = 0; for (int i = 0; i < len - 1; i++) checksum += ((uint8_t*)header)[i]; return checksum == ((uint8_t*)header)[len - 1]; } } // namespace zcr } // namespace iflytop