a8000_subboard_sdk/components/zcancmder/cmd.hpp

#pragma once
#include "sdk/os/zos.hpp"

namespace iflytop {
namespace zcr {

typedef struct {
  uint16_t packetindex;
  uint16_t cmdid;
  uint8_t  subcmdid;
  uint8_t  packetType;
  uint8_t  data[];
} Cmdheader_t;

typedef enum {
  kpt_cmd           = 0,
  kpt_ack           = 1,
  kpt_error_ack     = 2,
  kpt_status_report = 3,
} PacketType_t;

typedef enum {
  kcmd_ping        = 0,
  kcmd_read_io     = 1,
  kcmd_set_io      = 2,
  kcmd_readadc_raw = 3,

  kcmd_m211887_operation             = 1000,  // ��������������
  kcmd_read_presure_sensor           = 1001,  // ѹ��������
  kcmd_triple_warning_light_ctl      = 1002,  // ��ɫ��ʾ�ƿ���
  kcmd_high_power_electrical_ctl     = 1003,  // �����ʵ�Դ����
  kcmd_peristaltic_pump_ctl          = 1004,  // Һ�ÿ���
  kcmd_read_huacheng_pressure_sensor = 1005,  // ����ѹ��������
} CmdID_t;
}  // namespace zcr
}  // namespace iflytop

typedef struct {
  uint8_t boardid;
} kcmd_ping_t;

typedef struct {
  uint8_t boardid;
} kcmd_ping_ack_t;

typedef struct {
  uint8_t ioid;
} kcmd_read_io_t;

typedef struct {
  uint8_t ioid;
  uint8_t val;
} kcmd_read_io_ack_t;

typedef struct {
  uint8_t ioid;
  uint8_t val;
} kcmd_set_io_t;

typedef struct {
  uint8_t ioid;
  uint8_t val;
} kcmd_set_io_ack_t;

typedef struct {
  uint8_t sensorid;
} kcmd_readadc_raw_t;

typedef struct {
  uint8_t sensorid;
  uint8_t __p;  // padding
  int32_t val;
} kcmd_readadc_raw_ack_t;