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31 lines
666 B
31 lines
666 B
#pragma once
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#include <stdint.h>
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namespace iflytop {
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namespace zcr {
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#pragma pack(push, 1)
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typedef struct {
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uint16_t packetindex;
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uint16_t cmdMainId; // cmd main id
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uint8_t cmdSubId; // cmd sub id
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uint8_t packetType; //
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uint16_t subModuleid; // module id
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uint8_t data[];
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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 = 0,
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kptv2_ack = 1,
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kptv2_error_ack = 2,
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kptv2_event = 3,
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} zcan_cmd_packet_type_t;
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} // namespace zcr
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} // namespace iflytop
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#define CMD_SUB_ID(cmdid) (cmdid & 0xff)
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#define MODULE_CMDID(cmdid) (cmdid >> 8)
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#define STEP_MOTOR_ID_OFF 100
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#define XY_MOTOR_ID_OFF 200
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