You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
54 lines
1.6 KiB
54 lines
1.6 KiB
#pragma once
|
|
#include <stdint.h>
|
|
#define ZCANCMD_PACKET_MAX_LEN 64
|
|
|
|
namespace iflytop {
|
|
|
|
typedef enum {
|
|
kboard = 0, // 板子
|
|
khbot_module = 1, // hbot模块
|
|
kwater_cooling_temperature_ctrl_module = 2, // 水冷温度控制
|
|
kfan_ctrl_module = 3, // 风扇控制
|
|
kcode_scaner = 4, // 扫码器
|
|
ktmc_step_motor = 5, // 步进电机
|
|
kmini_servo_motor_module = 6, // 舵机
|
|
kpipette_ctrl_module = 7, // 移液体枪控制
|
|
|
|
ka8000_optical_module = 100, // a8000光学模组
|
|
ka8000_idcard_reader = 101, // id卡读卡器
|
|
ka8000_plate_code_scaner = 102, // 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
|