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SCS.h
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SCS.h
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/*
* SCS.h
* 飞特串行舵机通信层协议程序
* 日期: 2022.3.29
* 作者:
*/
#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);//同步读开始
void syncReadEnd();//同步读结束
public:
u8 Level;//舵机返回等级
u8 End;//处理器大小端结构
u8 Error;//舵机状态
u8 syncReadRxPacketIndex;
u8 syncReadRxPacketLen;
u8 *syncReadRxPacket;
u8 *syncReadRxBuff;
u16 syncReadRxBuffLen;
u16 syncReadRxBuffMax;
protected:
virtual int writeSCS(unsigned char *nDat, int nLen) = 0;
virtual int readSCS(unsigned char *nDat, int nLen) = 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
};
#endif