64 lines
2.3 KiB
C++
64 lines
2.3 KiB
C++
/*
|
||
* SCS.h
|
||
* 飞特串行舵机通信层协议程序
|
||
* 日期: 2024.11.21
|
||
* 作者: txl
|
||
*/
|
||
|
||
#ifndef _SCS_H
|
||
#define _SCS_H
|
||
|
||
#include "INST.h"
|
||
|
||
class SCS{
|
||
public:
|
||
SCS();
|
||
SCS(u8 End);
|
||
SCS(u8 End, u8 Level);
|
||
int genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen);//普通写指令
|
||
int regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen);//异步写指令
|
||
int RegWriteAction(u8 ID = 0xfe);//异步写执行指令
|
||
void syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen);//同步写指令
|
||
int writeByte(u8 ID, u8 MemAddr, u8 bDat);//写1个字节
|
||
int writeWord(u8 ID, u8 MemAddr, u16 wDat);//写2个字节
|
||
int Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen);//读指令
|
||
int readByte(u8 ID, u8 MemAddr);//读1个字节
|
||
int readWord(u8 ID, u8 MemAddr);//读2个字节
|
||
int Ping(u8 ID);//Ping指令
|
||
int syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen);//同步读指令包发送
|
||
int syncReadPacketRx(u8 ID, u8 *nDat);//同步读返回包解码，成功返回内存字节数，失败返回0
|
||
int syncReadRxPacketToByte();//解码一个字节
|
||
int syncReadRxPacketToWrod(u8 negBit=0);//解码两个字节，negBit为方向为，negBit=0表示无方向
|
||
void syncReadBegin(u8 IDN, u8 rxLen, u32 TimeOut);//同步读开始
|
||
void syncReadEnd();//同步读结束
|
||
int Reset(u8 ID);//重置舵机状态
|
||
int Recal(u8 ID);//重置舵机中位
|
||
u8 getState() { return u8Status; }
|
||
u8 getLastError() { return u8Error; }
|
||
public:
|
||
u8 Level;//舵机返回等级
|
||
u8 End;//处理器大小端结构
|
||
u8 u8Status;//舵机状态
|
||
u8 u8Error;//通信状态
|
||
u8 syncReadRxPacketIndex;
|
||
u8 syncReadRxPacketLen;
|
||
u8 *syncReadRxPacket;
|
||
u8 *syncReadRxBuff;
|
||
u16 syncReadRxBuffLen;
|
||
u16 syncReadRxBuffMax;
|
||
u32 syncTimeOut;
|
||
protected:
|
||
virtual int writeSCS(unsigned char *nDat, int nLen) = 0;
|
||
virtual int readSCS(unsigned char *nDat, int nLen) = 0;
|
||
virtual int readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut) = 0;
|
||
virtual int writeSCS(unsigned char bDat) = 0;
|
||
virtual void rFlushSCS() = 0;
|
||
virtual void wFlushSCS() = 0;
|
||
protected:
|
||
void writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun);
|
||
void Host2SCS(u8 *DataL, u8* DataH, u16 Data);//1个16位数拆分为2个8位数
|
||
u16 SCS2Host(u8 DataL, u8 DataH);//2个8位数组合为1个16位数
|
||
int Ack(u8 ID);//返回应答
|
||
int checkHead();//帧头检测
|
||
};
|
||
#endif |