172 lines
4.2 KiB
C
172 lines
4.2 KiB
C
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#ifndef __COLORCONTROL_H__
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#define __COLORCONTROL_H__
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#include "controlbus.h"
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#if (CONTROL_BUS == COMM_CAN)
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/*
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*/
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//-------------------------------------------------------------------------------
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typedef struct
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{
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u8 nodeId;
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CtrlBusPacket ctrlCmd; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><CEA7><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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CtrlBusPacket exbSta; // <20><>Χ<EFBFBD>巵<EFBFBD>ص<EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD>
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BoardRegVal regVal; // <20><>Χ<EFBFBD><CEA7><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>ֵ
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CtrlBusPacket rdReg; // <20><>ȡ<EFBFBD><C8A1>Χ<EFBFBD><CEA7><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>ֵ
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int cmdFlag; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־
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int staFlag; // <20><><EFBFBD><EFBFBD>״̬<D7B4><CCAC>־
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int refSta; // ˢ<><CBA2>״̬<D7B4><CCAC>־
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int verFlag; // <20><><EFBFBD>³<EFBFBD><C2B3><EFBFBD><EFBFBD>汾<EFBFBD><E6B1BE>־
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int refVer; // ˢ<>³<EFBFBD><C2B3><EFBFBD><EFBFBD>汾<EFBFBD><E6B1BE>־
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int transFlag; // <20><><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD><EFBFBD><EFBFBD>־ <09><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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u8 exbupdateFlag; // <20><>Χ<EFBFBD><CEA7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>־
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u8 refNvPara; // ˢ<>·<EFBFBD><C2B7><EFBFBD>ʧ<EFBFBD>Բ<EFBFBD><D4B2><EFBFBD>
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u8 nvParaFlag; // <20><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD>ʧ<EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD>־
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}ColorControl;
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//-------------------------------------------------------------------------------
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typedef union
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{
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u8 buff[CAN_DATA_LEN];
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//---------------
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struct
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{
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u16 cmd;
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u8 subcmd;
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u8 para[5];
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} __attribute__ ((packed)) colorCtrl; // <20><><EFBFBD><EFBFBD>
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struct
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{
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u16 cmd;
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u8 needleNums; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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u8 rev[5]; // Ԥ<><D4A4>
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} __attribute__ ((packed)) colorPara; // <20><><EFBFBD><EFBFBD>
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struct
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{
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u16 cmd;
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u8 parablockID; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ID
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u8 paraID; // <20><><EFBFBD><EFBFBD>ID
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s32 paraval; // <20><><EFBFBD><EFBFBD>ֵ
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} __attribute__ ((packed)) colorNvPara; // <20><><EFBFBD><EFBFBD>ʧ<EFBFBD>Բ<EFBFBD><D4B2><EFBFBD>
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struct
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{
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u16 staBits; // ״̬λ
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u16 potValue; // <20><>λ<EFBFBD><CEBB>ֵ
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s8 curNeedle; // <20><>ǰ<EFBFBD><C7B0>λ
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s8 needleNums; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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u8 rev[2];
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} __attribute__ ((packed)) colorSta; // ״̬
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//-----------------------------------------------
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struct
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{
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u16 cmd;
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u8 subcmd; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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u8 para[5];
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} __attribute__ ((packed)) chenilleCtrl; // ë<><C3AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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struct
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{
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u16 staBits; // ״̬λ
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u16 potValue; // <20><>λ<EFBFBD><CEBB>ֵ(<28>ɽ<EFBFBD><C9BD>ߵ<EFBFBD><DFB5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>)
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s8 curNeedle; // <20><>ǰ<EFBFBD><C7B0>λ
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s8 needleNums; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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s8 elasticWirePos; // <20>ɽ<EFBFBD><C9BD>ߵ<EFBFBD><DFB5><EFBFBD>λ<EFBFBD><CEBB>
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u8 rev;
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} __attribute__ ((packed)) chenilleSta; // ë<><C3AB><EFBFBD><EFBFBD>״̬
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struct
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{
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u16 cmd;
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u8 para[6]; // Ԥ<><D4A4>
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} __attribute__ ((packed)) chenillePara; // ë<><C3AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}ColorCommand;
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//-------------------------------------------------------------------------------
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//-------------------------------------------------------------------------------
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// <20><><EFBFBD><EFBFBD>
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/*
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#define CTRL_CMD_EMB_HEAD_CTRL 0x1000 // ƽ<><C6BD><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_EMB_HEAD_PARA 0x1001 // ƽ<><C6BD><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_HEAD_NVPARA 0x1002 // ƽ<><C6BD><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD>ʧ<EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_CHENILLE_HEAD_CTRL 0x1010 // ë<><C3AB><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_CHENILLE_HEAD_PARA 0x1011 // ë<><C3AB><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_CHENILLE_NVPARA 0x1012 // ë<><C3AB><EFBFBD><EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD>ʧ<EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_COIL_HEAD_CTRL 0x1020 // <20><><EFBFBD>ƻ<EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_COIL_HEAD_PARA 0x1021 // <20><><EFBFBD>ƻ<EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_COIL_NVPARA 0x1022 // <20><><EFBFBD>ƻ<EFBFBD>ͷ<EFBFBD><CDB7><EFBFBD><EFBFBD>ʧ<EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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*/
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#define CTRL_CMD_COLOR_CTRL 0x1100 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_COLOR_PARA 0x1101 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_COLOR_NVPARA 0x1102 // <20><><EFBFBD><EFBFBD>ʧ<EFBFBD>Բ<EFBFBD><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_SUBCMD_SWITCH_NEEDLE 0x01 // <20><>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD>
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#define CTRL_SUBCMD_CHG_MOTO_CTRL 0x02 // <20><>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//-------------------------------------------------------------------------------
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//-------------------------------------------------------------------------------
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// ë<><C3AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_CMD_CHENILLE_CTRL 0x1110 //ë<><C3AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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#define CTRL_SUBCMD_ELASTIC_CTRL 0x01 // <20>ɽ<EFBFBD><C9BD>߿<EFBFBD><DFBF><EFBFBD>
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#define CTRL_SUBCMD_CHENILLE_COLOR 0x02 // ë<><C3AB><EFBFBD><EFBFBD>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD>
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// <20>ɽ<EFBFBD><C9BD>߿<EFBFBD><DFBF><EFBFBD>para[0]<5D><><EFBFBD><EFBFBD>
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#define ELASTICWIRE_COLORCHANGE_POS 1 // <20>ɽ<EFBFBD><C9BD>ߵ<EFBFBD><DFB5><EFBFBD><EFBFBD><EFBFBD>ɫλ
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#define ELASTICWIRE_TRIMMING_POS 2 // <20>ɽ<EFBFBD><C9BD>ߵ<EFBFBD><DFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
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#define ELASTICWIRE_CHAIN_POS 3 // <20>ɽ<EFBFBD><C9BD>ߵ<EFBFBD><DFB5><EFBFBD><EFBFBD><EFBFBD>ʽλ
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#define ELASTICWIRE_CHENILLE_POS 4 // <20>ɽ<EFBFBD><C9BD>ߵ<EFBFBD><DFB5><EFBFBD>ë<EFBFBD><C3AB>λ
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//-------------------------------------------------------------------------------
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void InitColorControl(ColorControl * pCtrl);
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void SendColorCommand(ColorControl * pCtrl, ColorCommand * pCmd);
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void RequestColorStatus(ColorControl * pCtrl);
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void RequestColorVersion(ColorControl * pCtrl);
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void RequestColorNvPara(ColorControl * pCtrl);
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//-------------------------------------------------------------------------------
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//-------------------------------------------------------------------------------
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#endif
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#endif
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