zcancmder_v2/api/packet_interface.hpp

#pragma once
#include <stdint.h>

namespace iflytop {
namespace zcr {
#pragma pack(push, 1)
typedef struct {
  uint16_t packetindex;
  uint16_t cmdmoduleid;
  uint8_t  subcmdid;
  uint8_t  packetType;
  uint16_t submoduleid;
  uint8_t  data[];
} zcr_cmd_header_t;
#pragma pack(pop)

typedef enum {
  kptv2_cmd       = 0,
  kptv2_ack       = 1,
  kptv2_error_ack = 2,
} zcan_cmd_packet_type_t;

}  // namespace zcr
}  // namespace iflytop

#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
#define SUBCMDID(cmdid)        (cmdid & 0xff)
#define MODULE_CMDID(cmdid)    (cmdid >> 8)

#define STEP_MOTOR_ID_OFF 100
#define XY_MOTOR_ID_OFF   200