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31 lines
707 B
31 lines
707 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 cmdmoduleid;
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uint8_t subcmdid;
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uint8_t packetType;
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uint16_t submoduleid;
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uint8_t data[];
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} 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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} zcan_cmd_packet_type_t;
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} // namespace zcr
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} // namespace iflytop
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#define CMDID(cmdid, subcmdid) ((cmdid << 8) + subcmdid)
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#define SUBCMDID(cmdid) (cmdid & 0xff)
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#define MODULE_CMDID(cmdid) (cmdid >> 8)
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#define ZCAN_CMD_PUBLIC_DEVICE_ID_STEP_MOTOR_BOARD_OFFEST 200
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#define ZCAN_CMD_PUBLIC_DEVICE_ID_XY_ROBOT_BOARD_OFFEST 230
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