37 lines
1.1 KiB
Markdown
37 lines
1.1 KiB
Markdown
# SRCP 通信协议帧结构
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## 帧格式
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| 字段 | 内容 | 长度 | 说明 |
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|------|------|------|------|
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| SOF | 0xBB 0x77 | 2 bytes | 帧头 |
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| x_move | -660~660 | 2 bytes | 平动左右 (小端序) |
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| y_move | -660~660 | 2 bytes | 平动前后 (小端序) |
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| yaw | -660~660 | 2 bytes | 云台偏航 (小端序) |
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| pitch | -660~660 | 2 bytes | 云台俯仰 (小端序) |
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| feed | -660~660 | 2 bytes | 拨弹轮 (小端序) |
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| key | 0~15 | 1 byte | 按键 |
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| crc8 | CRC8-MAXIM | 1 byte | 校验 |
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| EOF | 0xEE | 1 byte | 帧尾 |
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## 帧长度
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```
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SOF(2) + x_move(2) + y_move(2) + yaw(2) + pitch(2) + feed(2) + key(1) + crc8(1) + EOF(1) = 15 bytes
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```
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## 字节序
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- 所有 int16_t 类型字段（x_move, y_move, yaw, pitch, feed）使用 **小端序**
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## 代码示例
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```cpp
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constexpr int FRAME_LENGTH = 15; // 总帧长度
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frame[0] = 0xBB; // SOF
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frame[1] = 0x77; // SOF
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frame[2] = x_move & 0xFF; // 低字节
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frame[3] = (x_move >> 8) & 0xFF; // 高字节
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// ... 其他字段
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frame[14] = 0xEE; // EOF |