deepseek Bot
324d114386
- Add platformio.ini for ESP32 DevKit (Arduino framework, espressif32 6.10.0) - Vendor ArduinoJson, MPU6050_tockn, SCServo, Simple_FOC, and WebSockets so a fresh clone builds without downloading dependencies - Add .gitignore rules for PlatformIO/IDE build artifacts - Add controller PCB Gerber and drill files
53 lines
1.8 KiB
C++
53 lines
1.8 KiB
C++
/*
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* SCS.h
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* 飞特串行舵机通信层协议程序
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* 日期: 2019.12.18
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* 作者:
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*/
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#ifndef _SCS_H
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#define _SCS_H
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#include "INST.h"
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class SCS{
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public:
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SCS();
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SCS(u8 End);
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SCS(u8 End, u8 Level);
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int genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen);//普通写指令
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int regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen);//异步写指令
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int RegWriteAction(u8 ID = 0xfe);//异步写执行指令
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void syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen);//同步写指令
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int writeByte(u8 ID, u8 MemAddr, u8 bDat);//写1个字节
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int writeWord(u8 ID, u8 MemAddr, u16 wDat);//写2个字节
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int Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen);//读指令
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int readByte(u8 ID, u8 MemAddr);//读1个字节
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int readWord(u8 ID, u8 MemAddr);//读2个字节
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int Ping(u8 ID);//Ping指令
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int syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen);//同步读指令包发送
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int syncReadPacketRx(u8 ID, u8 *nDat);//同步读返回包接收，成功返回内存字节数，失败返回0
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int syncReadRxPacketToByte();//解码一个字节
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int syncReadRxPacketToWrod(u8 negBit=0);//解码两个字节，negBit为方向为，negBit=0表示无方向
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public:
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u8 Level;//舵机返回等级
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u8 End;//处理器大小端结构
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u8 Error;//舵机状态
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u8 syncReadRxPacketIndex;
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u8 syncReadRxPacketLen;
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u8 *syncReadRxPacket;
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protected:
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virtual int writeSCS(unsigned char *nDat, int nLen) = 0;
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virtual int readSCS(unsigned char *nDat, int nLen) = 0;
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virtual int writeSCS(unsigned char bDat) = 0;
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virtual void rFlushSCS() = 0;
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virtual void wFlushSCS() = 0;
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protected:
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void writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun);
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void Host2SCS(u8 *DataL, u8* DataH, u16 Data);//1个16位数拆分为2个8位数
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u16 SCS2Host(u8 DataL, u8 DataH);//2个8位数组合为1个16位数
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int Ack(u8 ID);//返回应答
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int checkHead();//帧头检测
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};
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#endif
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