84 lines
2.3 KiB
C
84 lines
2.3 KiB
C
#ifndef _COMMUNICATION_PROTOCOL_H_
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#define _COMMUNICATION_PROTOCOL_H_
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#include "user_lib.h"
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#define COM_ERROR_CODE_SIZE 7 // 通信错误返回帧长度
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#define COM_AI_DATA_SIZE 11 // 模拟量数据返回帧长度
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#define COM_ENCODER_DATA_SIZE 12 // 模拟量数据返回帧长度
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#define FRAME_HEAD 0xAA // 帧头
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#define FRAME_TAIL 0x3C // 帧尾
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#define DEVICE_NUM 0x00 // 设备号
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typedef enum
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{
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READ_ANALOG_CMD = 0x00, // 读模拟量命令
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WRITE_ANALOG_CMD, // 写模拟量命令
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READ_DIGITAL_CMD, // 读数字量命令
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WRITE_DIGITAL_CMD, // 写数字量命令
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SEND_STATE_CMD, // 主动上发状态命令
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READ_ENCODER_CMD, // 读编码器命令
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} communication_cmd_e;
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// #define READ_ANALOG_CMD 0x00 // 读模拟量命令
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// #define WRITE_ANALOG_CMD 0x01 // 写模拟量命令
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// #define READ_DIGITAL_CMD 0x02 // 读数字量命令
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// #define WRITE_DIGITAL_CMD 0x03 // 写数字量命令
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// #define SEND_STATE_CMD 0x04 // 主动上发状态命令
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// #define READ_ENCODER_CMD 0x05 // 读编码器命令
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typedef enum
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{
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COM_OK = 0,
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FRAMING_ERROR,
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CHECK_ERROR,
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COMMAND_ERROR,
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DEVICE_ERROR,
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} communication_error_e;
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#pragma pack(1)
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typedef struct
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{
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uint8_t start_addr;
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uint8_t num;
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uint8_t data[16];
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} communication_do_t;
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typedef struct
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{
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uint8_t start_addr;
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uint8_t num;
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} communication_di_t;
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typedef struct
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{
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uint8_t channel;
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float32_u data;
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} communication_ao_t;
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typedef struct
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{
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uint8_t channel;
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} communication_ai_t;
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typedef struct
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{
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uint8_t channel;
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} comnmunication_encoder_t;
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typedef union
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{
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uint8_t data[50];
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communication_do_t do_data;
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communication_di_t di_data;
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communication_ao_t ao_data;
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communication_ai_t ai_data;
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comnmunication_encoder_t encoder_data;
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} communication_data_u;
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#pragma pack()
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void communication_exception(uint8_t *tx_data, const uint8_t *const rx_data, communication_error_e error_code);
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void communication_get_ai(communication_ai_t *ai_data, uint8_t *tx_data, const uint8_t *const rx_data);
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void communication_set_ao(communication_ao_t *ao_data);
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void communication_get_encoder(comnmunication_encoder_t *encoder_data, uint8_t *tx_data, const uint8_t *const rx_data);
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void communication_reset_hart(void);
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#endif
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