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54 lines
1.6 KiB
54 lines
1.6 KiB
#pragma once
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#include <stdint.h>
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#define ZCANCMD_PACKET_MAX_LEN 64
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namespace iflytop {
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typedef enum {
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kboard = 0, // 板子
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khbot_module = 1, // hbot模块
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kwater_cooling_temperature_ctrl_module = 2, // 水冷温度控制
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kfan_ctrl_module = 3, // 风扇控制
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kcode_scaner = 4, // 扫码器
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ktmc_step_motor = 5, // 步进电机
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kmini_servo_motor_module = 6, // 舵机
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kpipette_ctrl_module = 7, // 移液体枪控制
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ka8000_optical_module = 100, // a8000光学模组
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ka8000_idcard_reader = 101, // id卡读卡器
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ka8000_plate_code_scaner = 102, // 反应板条扫码器
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} module_type_t;
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namespace zcr {
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#pragma pack(push, 1)
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typedef struct {
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uint8_t packetType;
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uint16_t cmdid;
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uint8_t moduleId;
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uint16_t index;
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uint8_t datalen;
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uint8_t data[];
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/* int8_t checksum;*/
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} zcr_cmd_header_t;
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#pragma pack(pop)
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typedef enum {
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kptv2_cmd = 0xA0,
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kptv2_ack = 0xA1,
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kptv2_error_ack = 0xA2,
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kptv2_event = 0xA3,
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} zcan_cmd_packet_type_t;
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static inline bool zcr_cmd_checkpacket(const zcr_cmd_header_t* header, int len) {
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if (len < (int)sizeof(zcr_cmd_header_t)) return false;
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if ((int)(header->datalen + sizeof(zcr_cmd_header_t) + 1) != len) return false;
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uint8_t checksum = 0;
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for (int i = 0; i < len - 1; i++) checksum += ((uint8_t*)header)[i];
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return checksum == ((uint8_t*)header)[len - 1];
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}
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} // namespace zcr
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} // namespace iflytop
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