protocolCommon.h
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#ifndef __PROTOCOLCOMMON_H__
#define __PROTOCOLCOMMON_H__
typedef enum
{
PROTOCOL_COMM_MOTDB_T_0x00 = 0x00, //0x00 丢弃参数
PROTOCOL_COMM_MOTDB_T_0x10 = 0x10, // MOT_AngleGenPID 普通模式的P参数
PROTOCOL_COMM_MOTDB_T_0x11 = 0x11, // MOT_AngleGenPID 普通模式的I参数
PROTOCOL_COMM_MOTDB_T_0x12 = 0x12, // MOT_AngleGenPID 普通模式的D参数
PROTOCOL_COMM_MOTDB_T_0x13 = 0x13, // MOT_VelGenPID 普通模式的P参数
PROTOCOL_COMM_MOTDB_T_0x14 = 0x14, // MOT_VelGenPID 普通模式的I参数
PROTOCOL_COMM_MOTDB_T_0x15 = 0x15, // MOT_VelGenPID 普通模式的D参数
// MOT AngleGenPID Debug Group
PROTOCOL_COMM_MOTDB_T_0x20 = 0x20, // MOT_AngleGenPID KP_a
PROTOCOL_COMM_MOTDB_T_0x21 = 0x21, // MOT_AngleGenPID KP_b
PROTOCOL_COMM_MOTDB_T_0x22 = 0x22, // MOT_AngleGenPID KP_c
PROTOCOL_COMM_MOTDB_T_0x23 = 0x23, // MOT_AngleGenPID KI_a
PROTOCOL_COMM_MOTDB_T_0x24 = 0x24, // MOT_AngleGenPID KI_c
PROTOCOL_COMM_MOTDB_T_0x25 = 0x25, // MOT_AngleGenPID KI_e
PROTOCOL_COMM_MOTDB_T_0x26 = 0x26, // MOT_AngleGenPID KI_0
PROTOCOL_COMM_MOTDB_T_0x27 = 0x27, // MOT_AngleGenPID KI_1
PROTOCOL_COMM_MOTDB_T_0x28 = 0x28, // MOT_AngleGenPID KD_a
PROTOCOL_COMM_MOTDB_T_0x29 = 0x29, // MOT_AngleGenPID KD_b
PROTOCOL_COMM_MOTDB_T_0x2A = 0x2A, // MOT_AngleGenPID KD_c
PROTOCOL_COMM_MOTDB_T_0x2B = 0x2B, // AngleGenPID 输出限制 outputLimit
PROTOCOL_COMM_MOTDB_T_0x2C = 0x2C, // AngleGenPID 积分分离范围 intDetach
PROTOCOL_COMM_MOTDB_T_0x2D = 0x2D, // AngleGenPID 积分限制 intLimit
PROTOCOL_COMM_MOTDB_T_0x2E = 0x2E, // AngleGenPID 死区范围 deadzone
PROTOCOL_COMM_MOTDB_T_0x2F = 0x2F, // AngleGenPID 积分增益速度 IerrV
// MOT VelGenPID Debug Group
PROTOCOL_COMM_MOTDB_T_0x30 = 0x30, // MOT_VelGenPID KP_a
PROTOCOL_COMM_MOTDB_T_0x31 = 0x31, // MOT_VelGenPID KP_b
PROTOCOL_COMM_MOTDB_T_0x32 = 0x32, // MOT_VelGenPID KP_c
PROTOCOL_COMM_MOTDB_T_0x33 = 0x33, // MOT_VelGenPID KI_a
PROTOCOL_COMM_MOTDB_T_0x34 = 0x34, // MOT_VelGenPID KI_c
PROTOCOL_COMM_MOTDB_T_0x35 = 0x35, // MOT_VelGenPID KI_e
PROTOCOL_COMM_MOTDB_T_0x36 = 0x36, // MOT_VelGenPID KI_0
PROTOCOL_COMM_MOTDB_T_0x37 = 0x37, // MOT_VelGenPID KI_1
PROTOCOL_COMM_MOTDB_T_0x38 = 0x38, // MOT_VelGenPID KD_a
PROTOCOL_COMM_MOTDB_T_0x39 = 0x39, // MOT_VelGenPID KD_b
PROTOCOL_COMM_MOTDB_T_0x3A = 0x3A, // MOT_VelGenPID KD_c
PROTOCOL_COMM_MOTDB_T_0x3B = 0x3B, // VelGenPID 输出限制 outputLimit
PROTOCOL_COMM_MOTDB_T_0x3C = 0x3C, // VelGenPID 积分分离范围 intDetach
PROTOCOL_COMM_MOTDB_T_0x3D = 0x3D, // VelGenPID 积分限制 intLimit
PROTOCOL_COMM_MOTDB_T_0x3E = 0x3E, // VelGenPID 死区范围 deadzone
PROTOCOL_COMM_MOTDB_T_0x3F = 0x3F, // VelGenPID 积分增益速度 IerrV
// MOT Setting Group
PROTOCOL_COMM_MOTDB_T_0x41 = 0x41, // 电机使能
PROTOCOL_COMM_MOTDB_T_0x42 = 0x42, // 电机运行速度限制 velocity_limit
PROTOCOL_COMM_MOTDB_T_0x43 = 0x43, /* ! 电机运行电压限制 voltage_limit ! */
// Filter Setting Group
PROTOCOL_COMM_MOTDB_T_0x51 = 0x51, // KalmanF 卡尔曼滤波 Q kfp_velP.Q
PROTOCOL_COMM_MOTDB_T_0x52 = 0x52, // KalmanF 卡尔曼滤波 R kfp_velP.R
PROTOCOL_COMM_MOTDB_T_0x53 = 0x53, // KalmanF 卡尔曼滤波 Q kfp_angP.Q
PROTOCOL_COMM_MOTDB_T_0x54 = 0x54, // KalmanF 卡尔曼滤波 R kfp_angP.R
// Gimbal & IMU Setting Group
PROTOCOL_COMM_MOTDB_T_0x61 = 0x61, // AccCur 加速度纠偏 Kp AccCur_Kp
PROTOCOL_COMM_MOTDB_T_0x62 = 0x62, // AccCur 加速度纠偏 Kp AccCur_Ki
/// ================= Test Debug Group !TEMP! =================
/// Update Time = 2024.3.19 - 1224
PROTOCOL_COMM_MOTDB_T_0xA0 = 0xA0, // pitchANGPlan.vel_Max
PROTOCOL_COMM_MOTDB_T_0xA1 = 0xA1, // pitchANGPlan.acc_global
PROTOCOL_COMM_MOTDB_T_0xA2 = 0xA2, //
PROTOCOL_COMM_MOTDB_T_0xA3 = 0xA3, //
PROTOCOL_COMM_MOTDB_T_0xA4 = 0xA4, //
PROTOCOL_COMM_MOTDB_T_0xA5 = 0xA5, //
PROTOCOL_COMM_MOTDB_T_0xA6 = 0xA6, //
PROTOCOL_COMM_MOTDB_T_0xA7 = 0xA7, //
PROTOCOL_COMM_MOTDB_T_0xA8 = 0xA8, //
PROTOCOL_COMM_MOTDB_T_0xA9 = 0xA9, //
PROTOCOL_COMM_MOTDB_T_0xAA = 0xAA, //
PROTOCOL_COMM_MOTDB_T_0xAB = 0xAB, //
PROTOCOL_COMM_MOTDB_T_0xAC = 0xAC, //
PROTOCOL_COMM_MOTDB_T_0xAD = 0xAD, //
PROTOCOL_COMM_MOTDB_T_0xAE = 0xAE, //
PROTOCOL_COMM_MOTDB_T_0xAF = 0xAF, //
PROTOCOL_COMM_MOTDB_T_0xB0 = 0xB0, // AngleE1GenPID_STD P
PROTOCOL_COMM_MOTDB_T_0xB1 = 0xB1, // AngleE1GenPID_STD I
PROTOCOL_COMM_MOTDB_T_0xB2 = 0xB2, // AngleE1GenPID_STD D
PROTOCOL_COMM_MOTDB_T_0xB3 = 0xB3, //
PROTOCOL_COMM_MOTDB_T_0xB4 = 0xB4, //
PROTOCOL_COMM_MOTDB_T_0xB5 = 0xB5, //
PROTOCOL_COMM_MOTDB_T_0xB6 = 0xB6, //
PROTOCOL_COMM_MOTDB_T_0xB7 = 0xB7, //
PROTOCOL_COMM_MOTDB_T_0xB8 = 0xB8, //
PROTOCOL_COMM_MOTDB_T_0xB9 = 0xB9, //
PROTOCOL_COMM_MOTDB_T_0xBA = 0xBA, //
PROTOCOL_COMM_MOTDB_T_0xBB = 0xBB, //
PROTOCOL_COMM_MOTDB_T_0xBC = 0xBC, //
PROTOCOL_COMM_MOTDB_T_0xBD = 0xBD, //
PROTOCOL_COMM_MOTDB_T_0xBE = 0xBE, //
PROTOCOL_COMM_MOTDB_T_0xBF = 0xBF, //
} PROTOCOL_COMM_MOTDB_T; //帧类型0XE1的payload参数1下的目标电机参数1的类型
typedef enum {
PROTOCOL_COMM_TARGETAXIS_P_0XAA = 0xAA,
PROTOCOL_COMM_TARGETAXIS_P_0XBB = 0xBB,
PROTOCOL_COMM_TARGETAXIS_P_0XCC = 0xCC
} PROTOCOL_COMM_TARGETAXIS;
#endif