建立 MAG160C 逆向工程交接仓库

2026-08-11 19:08:44 +08:00
commit 8409b27ba3
3135 changed files with 534408 additions and 0 deletions
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+#include "core/tcm_device.hpp"
+
+#include <algorithm>
+
+namespace mag160c::core {
+namespace {
+
+constexpr uint8_t MAIN_TCM = 0x02;
+constexpr uint8_t SUB_ROTATE = 0x77;
+constexpr uint8_t SUB_LIGHT_STEADY = 0x31;
+constexpr uint8_t SUB_LIGHT_BLINK = 0x32;
+constexpr uint8_t SUB_LIGHT_BREATH = 0x33;
+
+uint8_t light_subcommand(mag160c_tcm_light_mode_t mode) {
+    switch (mode) {
+    case MAG160C_TCM_LIGHT_STEADY:
+        return SUB_LIGHT_STEADY;
+    case MAG160C_TCM_LIGHT_BLINK:
+        return SUB_LIGHT_BLINK;
+    case MAG160C_TCM_LIGHT_BREATH:
+        return SUB_LIGHT_BREATH;
+    }
+    return SUB_LIGHT_STEADY;
+}
+
+std::vector<uint8_t> light_payload(mag160c_tcm_light_color_t color) {
+    switch (color) {
+    case MAG160C_TCM_LIGHT_OFF:
+        return {0x00, 0x00, 0x00, 0x00};
+    case MAG160C_TCM_LIGHT_RED:
+        return {0x01, 0xff, 0x00, 0x00};
+    case MAG160C_TCM_LIGHT_GREEN:
+        return {0x01, 0x00, 0xff, 0x00};
+    case MAG160C_TCM_LIGHT_BLUE:
+        return {0x01, 0x00, 0x00, 0xff};
+    case MAG160C_TCM_LIGHT_YELLOW:
+        return {0x01, 0xff, 0xff, 0x00};
+    }
+    return {0x00, 0x00, 0x00, 0x00};
+}
+
+} // namespace
+
+TcmCommandBuilder::TcmCommandBuilder() : frame_id_(1) {}
+
+uint16_t TcmCommandBuilder::next_frame_id() {
+    const uint16_t current = frame_id_;
+    ++frame_id_;
+    if (frame_id_ >= 0x8000) {
+        frame_id_ = 1;
+    }
+    return current;
+}
+
+std::vector<uint8_t> TcmCommandBuilder::build_rotate_frame(int angle) {
+    angle = std::clamp(angle, -128, 128);
+
+    const uint8_t direction = angle < 0 ? 0x01 : 0x00;
+    const uint8_t magnitude = static_cast<uint8_t>(angle < 0 ? -angle : angle);
+    return encode_tcm_frame(MAIN_TCM, SUB_ROTATE, next_frame_id(), {direction, magnitude});
+}
+
+std::vector<uint8_t> TcmCommandBuilder::build_light_frame(
+    mag160c_tcm_light_color_t color,
+    mag160c_tcm_light_mode_t mode
+) {
+    return encode_tcm_frame(MAIN_TCM, light_subcommand(mode), next_frame_id(), light_payload(color));
+}
+
+} // namespace mag160c::core